Difference between revisions of "WAVEGO"

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<div class="tabbertab" title="User Guides-Basic">
<div class="tabbertab" title="User Guides">
{{WAVEGO Guides-Basic}}
{{WAVEGO Guides}}
<div class="tabbertab" title="User Guides-Pi">
{{WAVEGO Guides-Pi}}
<div class="tabbertab" title="Resources">
<div class="tabbertab" title="Resources">
*[https://{{SERVERNAME}}/w/upload/f/f7/PIPPY_Schematic.pdf Schematic]<br>
*[https://www.waveshare.com/w/upload/b/b5/WAVEGO-RPi.pdf Mechinal Drawing]<br>
*[https://{{SERVERNAME}}/w/upload/6/68/PCA96_datasheet.pdf PCA9685 Datasheet]
*[https://{{SERVERNAME}}/w/upload/6/68/PCA96_datasheet.pdf PCA9685 Datasheet]
*[https://{{SERVERNAME}}/w/upload/6/62/TB6612FNG_datasheet_en.pdf TB6612FNG-EN Datasheet]
*[https://{{SERVERNAME}}/w/upload/1/1e/Ads1115.pdf ADS1115 Datasheet]
*[https://{{SERVERNAME}}/w/upload/1/13/S-8254AA.PDF S-8254AA Datasheet]
*[https://{{SERVERNAME}}/w/upload/1/10/Ina219.pdf INA219 Datasheet]
*[https://{{SERVERNAME}}/w/upload/1/10/Ina219.pdf INA219 Datasheet]
===Demo Codes==
*[https://www.waveshare.com/w/upload/3/32/WAVEGO_Demo_Code_%28Arduino%29_220128.zip WAVEGO Demo Code (Arduino)]
*[https://www.waveshare.com/w/upload/1/13/WAVEGO_Demo_Code_%28Pi%29_220128.zip WAVEGO Demo Code (Pi)]
<div class="tabbertab" title="FAQ"><br />
<div class="tabbertab" title="FAQ"><br />
{{FAQ|1、What kinds of batteries can be used by PIPPY?|
Please look for 18650 battery with protective plate, which lenght 65mm, 3.7V.|||}}
{{FAQ|2、The angle of the servo are wrong?|
Before you assemble the servo arm, you need to adjust the gesture of servo to keep it straight according to the video. The angle of servo has about 9° tolerant, it is normal and you can adjust the codes for better motion.|||}}
<div class="tabbertab" title="Supports"><br />{{Service00}}</div>
<div class="tabbertab" title="Supports"><br />{{Service00}}</div>

Revision as of 10:20, 16 March 2022


An Open Source Bionic Dog-Like Robot Powered by Raspberry Pi





The WAVEGO is a high-DOF bionic dog-like robot that features 2.3kg.cm large torque servos, reliable structure, and flexible motion, incorporating devices like front camera, 9-axes motion tracker, RGB indicator, etc., together with open source multi-platform Web application. It uses the ESP32 as a sub-controller for connecting rod inverse solving and gait generation, sharing calculating tasks for the host controller, an additional Raspberry Pi can be attached as the host controller for high-level decision operating.


  • Overall 12-DOF, multi connecting rods leg design, increasing the servo effective torque
  • A real-time operating system is used as sub-controller for connecting rod inverse solving and gait generation, sharing calculating tasks for the host controller, and improving *the gait solving efficiency
  • Ultra-compact structure design, allows using on the table, aluminum alloy + nylon structure materials, ensuring strength while keeping it lightweight
  • Additional Raspberry Pi can be attached as the host controller to enable OpenCV high-level functions, demo codes including facial recognition, motion detection, color *tracking, and more. Reserved extension interface for secondary development, along with user manual and secondary development documents.


Basic Pack
Expension Pack
PI4-4GB Add-on

Assembly Guide

Be sure to understand the following content before assembling.
1. Since this product uses a large number of servos, the servos are used as the component of the angle changing mechanism, and the wrong assembly will cause the robot to fail to operate normally.
2. Refer to the product assembly tutorial,use the correct screws to assemble the corresponding module, otherwise it may cause the angle deadband of the Leg link action to be too large or damage the structural parts.
3. When it comes to the assembly part of the anti-loose nut, the tightening degree of the nut should not be too tight or it cannot rotate normally, nor too loose or it will shake outside the rotation plane.
4. All the above problems can be avoided as long as the following assembly instructions are strictly followed.
5. We also provide a pre-assembled version package and the servo is callibrated, so you do not need to assemble.



WAVEGO Developing

Note: The provided ESP32 board has been flashing, you can just assemble and use it as the video. This guide is provided for the users who would like to modify the codes themselves.

Install Arduino IDE

  • Download the Arduino IDE from Arduino.cc website.
  • Please choose the Arduino IDE version according to your OS.
  • Download and install the IDE according to the prompt.

Install Arduino core for the ESP32

  • Run the Arduino IDE, and click File.


  • Click Preferences.


Note: If you already have an ESP8266 board URL, you can separate the URLs with commas as follows:

  • Download the package, unzip, and copy the packages file to the following path:

L76K GPS Module ESP32204.jpg
Note: you can replace the user name "xutong" with your own name.

Download demo code and dependency libraies

  • Download and unzip Libraries. Open the default installation path on the Arduino: C:\Users\xutong\AppData\Local\Arduino15\libraries (please refer to your actual location), and copy these files to Libraries.

WAVEGO Guides09.jpg

Upload example to WAVEGO

Wavego guides upload.png

  • Choose Tools > Port to check the COM port already on your PC. No need to click on this COM (different computers show different COMs, remember the COMs you already have on your computer).


  • Connect the driver board to the computer with the USB cable.
  • Choose Tools > Port, and click the new COM port.


  • Click Tools > Boards: > ESP32 Arduino > ESP32 Dev Module, and choose ESP32 Dev Module.


  • Configure as the below options: (Partition Scheme is better to use Huge APP, PSRAM must be Enabled, otherwise the camera will flash black.)
Dev Board: "ESP32 Dev Module"
Upload Speed: "921600"
CPU Frequency: "240MHz(WiFi/BT)"
Flash Frequency: "80MHz"
Flash Mode: "QIO"
Flash Size: "4MB(32Mb)"
''' Partition Scheme: "Huge APP(3MB No OTA/1MB SPIFFS)"
PSRAM: "Enabled"'''


  • Once the settings are complete, click Upload to upload the demo to the device.

Wavego upload03.jpg

  • If you encounter problems during the period, you need to reinstall or replace the Arduino IDE version, uninstall the Arduino IDE needs to be uninstalled cleanly, after uninstalling the software you need to manually delete all the contents of the folder C:\Users\[name]\AppData\Local\Arduino15 (you need to show the hidden files in order to see it) and then Reinstall.


If you require technical support, please go to the Support page and open a ticket.