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MangDang Technology Mini Pupper Manual

Release 1.0.0-alpha
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Mini Pupper
Release 1.0.0-alpha
MangDang Technology Co., Limited
Jan 30, 2023

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Summary of Contents for MangDang Technology Mini Pupper

  • Page 1 Mini Pupper Release 1.0.0-alpha MangDang Technology Co., Limited Jan 30, 2023...
  • Page 3 GUIDE 1 ROS2,Open-source,Education Robot Kit...
  • Page 5 Mini Pupper will make robotics easier for schools, homeschool families, enthusiasts and beyond. Mini Pupper 2 is launched on Kickstarter in late 2022. Mini Pupper joined several workshops at AWS 2022 re: MARS, re: Invent, ROSCon 2022, and Ubuntu Summit 2022. Looking forward to more workshops in 2023.
  • Page 6 Mini Pupper is a low-cost, personal quadruped kit with open-source software. Mini Pupper was created by MANG- DANG in Septemper 2021. With Mini Pupper, you’ll be able to build a robot dog that can drive around, and have enough horsepower to create exciting applications.
  • Page 7 Lidar module can work well based on our source code, and NOT ensure that you get from other channels. We already tested some Lidar modules, such as, PRLidar A1, YDLidar X2L, and LD06. For Mini Pupper, we refer to LD06 as it is smaller.
  • Page 8 Mini Pupper, Release 1.0.0-alpha Summary Mini Pupper was released by MangDang on 2021, many makers all over the world are contributing Pupper robot project, as it is open source based software, hardware, and content. We are encouraging more partners and research collaborators to participate in this project to enrich the robotics field.
  • Page 9 1. Power On Mini Pupper • Push on the battery power button for at least 3 seconds to power on Mini Pupper. After power on, if you push on the power button for at least 3 seconds again, it will power off.
  • Page 10 Mini Pupper, Release 1.0.0-alpha 3. Wait until the controller binds to the robot, at which point the controller should turn a dim green (or whatever color you chose in pupper/HardwareConfig.py for the deactivated color). 4. Press L1 on the controller to “activate” the robot. The controller should turn bright green (or again, whatever you chose in HardwareConfig).
  • Page 11 – If you use external power supply to power the robot with anything higher than 8.4V (aka >2S) you’ll almost certainly fry all your servos! 1.1.4 Assembly Contents • Assembly – 0. Update change points after April 15 2022 – 1. Write the pre-built image into microSD – 2. Position of the screws 1.1. What is Mini Pupper?
  • Page 12 • Re-designed and unified the original four hip parts into one for mold, for the detailed info, please refer to the mechanical design section. • If you get your Mini Pupper kit after April 15 2022, it will be easier to assemble. • If you have 3D printer and still hope to use the previous 3D printed design, that’s OK.
  • Page 13 Mini Pupper, Release 1.0.0-alpha Step 1.2 Download the image • You can download latest image file via the below folder. MiniPupperRelease.from.MangDang • The below picture is the custom carry board. 1.1. What is Mini Pupper?
  • Page 14 Mini Pupper, Release 1.0.0-alpha “xxx_MiniPupper_Controller_Ubuntu_22.04.img” means the image is for Ubuntu 22.04 version. “xxx.MiniPupper_ROS&OpenCV_Ubuntu20.04.03.img” is the image file for the Ubuntu + ROS + OpenCV version for SLAM & Navigation & AI. Step 1.3 Write the image into microSD card •...
  • Page 15 Mini Pupper, Release 1.0.0-alpha 2. Position of the screws • The pictures show the position of the screws briefly. 1.1. What is Mini Pupper?
  • Page 16 Mini Pupper, Release 1.0.0-alpha Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 17 Mini Pupper, Release 1.0.0-alpha 1.1. What is Mini Pupper?
  • Page 18 Mini Pupper, Release 1.0.0-alpha (The up pictures are before April 15 2022 version, the below pictures are after April 15 2022 version) Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 19 Mini Pupper, Release 1.0.0-alpha 1.1. What is Mini Pupper?
  • Page 20 Mini Pupper, Release 1.0.0-alpha (The up pictures are before April 15 2022 version, the below pictures are after April 15 2022 version) Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 21 Mini Pupper, Release 1.0.0-alpha 1.1. What is Mini Pupper?
  • Page 22 Mini Pupper, Release 1.0.0-alpha Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 23 • Assemble the four legs. The front and back of the right side are the same, and so are the front and back of the left side. Show you how to assemble the right side. • Video Instructions, please refer to the link https://youtu.be/Ut7UnS3CTZs • The parts are numbered as follows to explain. 1.1. What is Mini Pupper?
  • Page 24 Mini Pupper, Release 1.0.0-alpha Assemble and • Use one M2x5mm screw.The screw is inserted from the bottom of upwards and tightened by inserting them into the screw holes in . Be careful about the sides of . • The two ballbearings in should be inserted all the way in and the end should be slightly visible as shown in the picture below.
  • Page 25 • Use an M2x8mm screw and an M2 locknut. Insert the screw from the bottom to the top of , pass through and tighten with the nut. It is important to pay attention to the orientation of . Look carefully at the position of the hole in the middle. 1.1. What is Mini Pupper?
  • Page 26 Mini Pupper, Release 1.0.0-alpha Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 27 • The length of must match the length of . When adjusting the length, it is easier to use two long screws to make sure that the lengths match. Once the lengths have been adjusted, take apart all. 1.1. What is Mini Pupper?
  • Page 28 Mini Pupper, Release 1.0.0-alpha • If it’s hard to twist, you can use two screwdrivers to assist. Assemble and • Use one M2x5mm screw. Insert the screws into first, insert them into the holes of , and tighten them. The large hole in should be facing the surface.
  • Page 29 Then insert the screw into the hole . Taking care to look at the warped side of to make sure it is facing the right way. Now screw in the another set of ball bearing. Finally, insert screw into and tighten it with the nut. 1.1. What is Mini Pupper?
  • Page 30 Mini Pupper, Release 1.0.0-alpha Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 31 Mini Pupper, Release 1.0.0-alpha 1.1. What is Mini Pupper?
  • Page 32 Mini Pupper, Release 1.0.0-alpha Assemble and Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 33 • Use an M2x8mm screw and an M2 nut. Insert the screw into and put through, then tighten it with the nut. The direction of the front and back of can be either. Left and right leg 1.1. What is Mini Pupper?
  • Page 34 Mini Pupper, Release 1.0.0-alpha Assemble and • Use an M2x8mm screw and an M2 nut. Insert the screw into and put through, then tighten it with the nut. Left and right leg Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 35 • Use M2x14mm screws and two sets of ball bearings. Thread the screws through the bearings, , bearings, , in that order. The screws are not fixed, but you will tighten them when you mount the servo in the next step. 1.1. What is Mini Pupper?
  • Page 36 Mini Pupper, Release 1.0.0-alpha Completion of a right leg • Now we have one leg on the right side. Here are some pictures so you can see it from different angles. The left leg should be symmetrical with the right one.
  • Page 37 Mini Pupper, Release 1.0.0-alpha 1.1. What is Mini Pupper?
  • Page 38 Mini Pupper, Release 1.0.0-alpha opposite side Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 39 Mini Pupper, Release 1.0.0-alpha Step 3.2 Four legs 1.1. What is Mini Pupper?
  • Page 40 Mini Pupper, Release 1.0.0-alpha Step 3.3 Locktite • As the nut is on a moving joint, it will loosen quickly if tightened too tightly. They should be secured with Loctite. It is possible to dismantle the nut later, as it can be loosened by a strong force.
  • Page 41 Please refer to the below video clip. There are two kinds of servo cables, No.1,4,7,10 cables length is 9cm, other cables length is 15cm. • For the position of each servos, please refer to the below picture. 1.1. What is Mini Pupper?
  • Page 42 Mini Pupper, Release 1.0.0-alpha • Here shows how to assemble the rear right hip. Confirm whether the servo shaft is at the right position. The middle position marker is added on the output shaft, the output shaft is at its middle position by fault as the left picture shows. The shaft position may be changed during assembly as the middle picture shows, if you find it, you can use the servo horn to move the output shaft to the right position, and then finally make the servo horn at the place as the right picture shows.
  • Page 43 Mini Pupper, Release 1.0.0-alpha Put two servos into hip parts • Insert two servos into the box and fix them with M2x6mm screws. 1.1. What is Mini Pupper?
  • Page 44 Mini Pupper, Release 1.0.0-alpha Four hip parts, please refer to the servo positions. Assemble leg and hip If you have no technology background, it’s easier to attach the leg to the hip during the calibration step. If you are the first time to assemble quadruped robot, we don’t recommand you use the Loctite.
  • Page 45 Mini Pupper, Release 1.0.0-alpha • Tighten the screws with Loctite. Use a toothpick to apply Loctite to the servo’s screw holes. 1.1. What is Mini Pupper?
  • Page 46 Mini Pupper, Release 1.0.0-alpha Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 47 Mini Pupper, Release 1.0.0-alpha Step 4.2 Four Hips Please pay attention to the positions of the servo gear output shaft 1.1. What is Mini Pupper?
  • Page 48 Mini Pupper, Release 1.0.0-alpha 5. Body Frame Assembly Step 5.1 Center parts • The position of each servos are shown as below. There are two kinds of servo cables, No.1,4,7,10 cables length is 9cm, other cables length is 15cm. • It is useful to put masking tape on the cables and write the number of servos during this process to make it easier later.
  • Page 49 Mini Pupper, Release 1.0.0-alpha 1.1. What is Mini Pupper?
  • Page 50 Mini Pupper, Release 1.0.0-alpha Step 5.2 Front parts *The front part is designed to hold the LCD screen. Make sure you don’t mistake it for the rear part. Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 51 Mini Pupper, Release 1.0.0-alpha Step 5.3 Rear side • The same procedure as for the front part. 1.1. What is Mini Pupper?
  • Page 52 Mini Pupper, Release 1.0.0-alpha Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 53 • If you DIY the battery, please ensure our battery spec at first, especially the Voltage should be less than 7.4V, you can also refer to other backers work https://www.facebook.com/groups/716473723088464/posts/ 777616293640873/ • Install the battery pack. 1.1. What is Mini Pupper?
  • Page 54 Mini Pupper, Release 1.0.0-alpha • Be careful of the carbon fiber front and rear orientation. • Slide the battery backwards and secure it. Pass the cable through the hole in the bottom plate and bring it up to the top.
  • Page 55 Mini Pupper, Release 1.0.0-alpha Step 5.5 Bottom plate • The orientation of the plate must be such that the hole is at the front. • If the leg is stuck, turn the part 1.1. What is Mini Pupper?
  • Page 56 Mini Pupper, Release 1.0.0-alpha Step 5.6 Display and Frame of face • Remove the protective sheet for the display. Fold the thin flexible cable at the edge of the display. Attach the board and the display to the main unit. When attaching the display, you can use a stick to gently push the flexible cable, so that it goes as far back as possible.
  • Page 57 Mini Pupper, Release 1.0.0-alpha 1.1. What is Mini Pupper?
  • Page 58 Mini Pupper, Release 1.0.0-alpha • Be careful with the yellow parts as it has a front and back. Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 59 Mini Pupper, Release 1.0.0-alpha 1.1. What is Mini Pupper?
  • Page 60 Mini Pupper, Release 1.0.0-alpha Step 5.7 Custom circuit board • Plug the display cable into the custom circuit board. • Insert the 12 servo cables. In the picture, you can see: J1,J2,J3..J12. Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 61 Mini Pupper, Release 1.0.0-alpha • Use four M2x5mm screws and four short supports. 1.1. What is Mini Pupper?
  • Page 62 Mini Pupper, Release 1.0.0-alpha • put on the carbon fiber board • plug in the battery cable. This connector may interfere with the hips parts, so you have to slide it through a hole in the middle of the board.
  • Page 63 Mini Pupper, Release 1.0.0-alpha • Use eight M2x5mm screws. The orientation of the plate must be such that the large opening is at the front. 1.1. What is Mini Pupper?
  • Page 64 Mini Pupper, Release 1.0.0-alpha • Pull the custom circuit board closer to the body. The board may float, but you can use four long posts to hold it in place. Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 65 Mini Pupper, Release 1.0.0-alpha Need to pay attention to the cable of the No. 1 servo to prevent it from being overwhelmed. 1.1. What is Mini Pupper?
  • Page 66 Mini Pupper, Release 1.0.0-alpha Step 5.8 Fan • To install the fan. Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 67 Mini Pupper, Release 1.0.0-alpha Step 5.9 Raspberry Pi 4 1.1. What is Mini Pupper?
  • Page 68 Mini Pupper, Release 1.0.0-alpha 6. Cover Assembly Please refer to the below video clip. Step 6.1 Side panels Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 69 Mini Pupper, Release 1.0.0-alpha Step 6.2 Shin guards • Use four M2x10mm countersunk screws. 1.1. What is Mini Pupper?
  • Page 70 Mini Pupper, Release 1.0.0-alpha Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 71 Step 6.3 Shoulders • Insert only the screws first and then insert the shoulder parts into the gap. Insert the 2 mm hex driver into the hole in the shoulder part and tighten the screws. 1.1. What is Mini Pupper?
  • Page 72 Mini Pupper, Release 1.0.0-alpha Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 73 • Use four M2x10mm screws, if the holes are too small to fit the screws, as the part is made with a 3D printer, you can enlarge the holes by turning them with the supplied 2mm hexagonal screwdriver. 1.1. What is Mini Pupper?
  • Page 74 Mini Pupper, Release 1.0.0-alpha Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 75 Mini Pupper, Release 1.0.0-alpha Step 6.5 Shoes • Put on 4 shoes. 1.1. What is Mini Pupper?
  • Page 76 Mini Pupper, Release 1.0.0-alpha Step 6.6 Completion! Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 77 Mini Pupper, Release 1.0.0-alpha 7.Add-On Assembly Step 7.1 Lidar If you order the Lidar, the Lidar holder will be shipped together. 1.1. What is Mini Pupper?
  • Page 78 Mini Pupper, Release 1.0.0-alpha Step 7.2 Camera If you order the camera, the camera holder is not included in the kit. But you can 3d-print it from the stl file down below. https://drive.google.com/drive/folders/1lRADDbAt7mSBJE4j8HCji1WbWcpneUED Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 79 Mini Pupper, Release 1.0.0-alpha 1.1. What is Mini Pupper?
  • Page 80 Mini Pupper, Release 1.0.0-alpha Step 7.3 Completion! Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 81 Mini Pupper, Release 1.0.0-alpha 1.1. What is Mini Pupper?
  • Page 82 • Press and hold the battery button of the Mini Pupper for three seconds to start Raspberry pi. • If you can see Ubuntu running on your screen, you have succeeded. You should also see the face on Mini Pupper display.
  • Page 83 Mini Pupper, Release 1.0.0-alpha Step 1.2 Log in • Press ubuntu button on the screen to log in. • Default username: ubuntu • Default password: mangdang 1.1. What is Mini Pupper?
  • Page 84 Mini Pupper, Release 1.0.0-alpha Step 1.3 Set keyboard (Optional) • If you want to change the keyboard type, for an example, Japanese keyboard, you will need this setting. Press the menu button in the bottom left corner and type settings to bring up settings.
  • Page 85 Please refer to the below calibration video clip. • During Mini Pupper calibration, if the servo horn assembly position is not right, it is not easy to calibrate, even break the servo. Please follow the below easy guide(not for ROS image).
  • Page 86 Mini Pupper, Release 1.0.0-alpha The calibration process is: calibrate each servo –> Press “Update” button to save the settings –> Press × to close and save the calibration. Calibrate each servo by moving the bars or click the space postion near the bars.
  • Page 87 Mini Pupper, Release 1.0.0-alpha • Then assemble the 4 legs by hand at the right position as the below picture shows. 1.1. What is Mini Pupper?
  • Page 88 Mini Pupper, Release 1.0.0-alpha • Use the calibration GUI tool to optimize the legs position. For each leg, move the bars so that all the legs are at a 45 degree angle. The angle of the legs will change in conjunction with the position of the slide bar on the screen.
  • Page 89 • It is a little bit difficult to measure the accurate inclination of the legs, so it is better to place the legs on a grid, like a piece of graph paper, to check that they are in the same position from front to back and from side to side, and to make any final adjustments. 1.1. What is Mini Pupper?
  • Page 90 Mini Pupper, Release 1.0.0-alpha • When all legs are at 45° inclination as shown, press Update to save the settings. Press × to close the calibration application. Step 2.2 Connect controller • Please check the next chapter. • If you can control it with a controller, it’s OK.
  • Page 91 <your_ws>/devel/setup.bash • 1.1.3 Network Setup Connect your PC and Mini Pupper to the same WiFi and find the assigned IP address with the command below. ifconfig Open the file and update ROS IP settings with commands below. 1.1. What is Mini Pupper?
  • Page 92 This will output something like “Created devices /dev/input/jsX”. Then give the permissions to the device sudo chmod a+rw /dev/input/jsX • 1.2.3 Mini Pupper ROS packages installation Then you can install the ROS packages for Mini Pupper. This should be installed both on Mini Pupper and your cd <your_ws>/src git clone --recursive https://github.com/mangdangroboticsclub/minipupper_ros...
  • Page 93 Through this script, you can calibrate the angle of every servo in one turn. Just input the angles.</br> The hip and shank should be horizontal, and the ham should be vertical. roslaunch servo_interface calibrate.launch Make sure Mini Pupper looks like this after calibrating. 1.1. What is Mini Pupper?
  • Page 94 • 2.2.1 Run the base driver You should run this command on Mini Pupper roslaunch mini_pupper bringup.launch If Mini Pupper didn’t stand as what you expect, you can edit calibration.yaml in servo_interface/config/calibration to fix the angles. • 2.2.2 Control Mini Pupper There are two options to control Mini Pupper: 1.Use keyboard...
  • Page 95 You should run this command on PC If you are using gazebo, set the param /use_sim_time to true in the launch file. roslaunch mini_pupper slam.launch Then you can use keyboard or joystick to control your Mini Pupper walking around and creating a map. To save the map, run these commands below. rosservice call /finish_trajectory 0 rosservice call /write_state "{filename:...
  • Page 96 You should run this command on PC If you are using gazebo, set the param /use_sim_time to true in the launch file. roslaunch mini_pupper navigate.launch 1.1.8 Simulation Contents • Simulation Instructions for Creating an AWS RoboMaker Environment for Mini Pupper, please refer to https://github.com/mangdangroboticsclub/aws-robomaker-mini-pupper-application/ Instructions for Amazon AWS Robotics Blog, please refer to https://aws.amazon.com/blogs/robotics/build-and-simulate-a-mini-pupper-robot-in-the-cloud-without-managing-any-infrastructure/ Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 97 Mini Pupper, Release 1.0.0-alpha Instructions for Amazon 2022 re:MARS RoboMaker&MiniPupper Workshop, please refer to https://catalog.us-east-1.prod.workshops.aws/workshops/511d7599-73bd-4142-bd6b-fa83dbe3d8ce/en-US 1.1. What is Mini Pupper?
  • Page 98 Mini Pupper, Release 1.0.0-alpha 1.1.9 Machine Learning Contents • Machine Learning – Summary – 1. Single camera module – 2. 3D(OAK-D-Lite) camera module Summary For potential security issues, the camera module is not included in our default package. If you want to explore camera AI functions, you can choose a normal USB camera module, of course, a 3D camera module is better for study.
  • Page 99 6. Docker – 7. Scratch program 1. Custom shell parts Pupper is open source project, that means, you can custom what you want. You can find all the 3D printed shell files and custom them. 1.1. What is Mini Pupper?
  • Page 100 Mini Pupper, Release 1.0.0-alpha 2. Custom Facial Animation 2.1 Prerequisites • HDMI Display • micro HDMI cable • Keyboard and mouse • a new picture 2.2 Run • Connect MiniPupper to the display by mirco HDMI cable • A: wireless adapter for the keyboard and mouse •...
  • Page 101 Pygame-based keyboard controller for Stanford Pupper. • Install PyGame pip install pygame • Controls wasd: left joystick arrow keys: right joystick q: L1 e: R1 ijkl: d-pad x: X square: u triangle: t circle: c 1.1. What is Mini Pupper?
  • Page 102 6.1 Docker for Pupper Dockerfile for Mini Pupper ROS package, comes from docker-mini-pupper-ros project. 6.2 Docker for Host Host computer setup for interfacing with a Mini Pupper over a network, comes from mp_host_setup project. 7. Scratch program Will update soon! 1.1.11 Mechanical Design...
  • Page 103 Link: STL for 3D print 1.1.12 PCB Contents • – PCB Design PCB Design For Mini Pupper custom board design, please refer to the below pictures. You can also find the detailed Schematic and Datasheet 1.1. What is Mini Pupper?
  • Page 104 Mini Pupper, Release 1.0.0-alpha Top side Chapter 1. ROS2,Open-source,Education Robot Kit...
  • Page 105 A1: Please confirm the below solutions for makers. • Use Raspberry Pi default adapter to long time coding and debug, and use the battery to test the movement. • Use DC power supply to long time coding, debug and test. 1.1. What is Mini Pupper?
  • Page 106 Mini Pupper, Release 1.0.0-alpha Q2. How about the leading time if I order? A2: After get your payment, your package can be shipped from Shenzhen/China factory, the shipping time is about 1~3 weeks by air to most of places in the world.