WAVEGO

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

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Primary Attribute Category: {{{userDefinedInfo}}}: {{{userdefinedvalue}}} Brand: Waveshare

Website International: Website Chinese: 中文网站

Onboard Interfaces I2C UART

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Overview

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.

Features

• 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.

Versions

	WAVEGO BASIC	WAVEGO EX	WAVEGO Pi4 KIT
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 Pi4 Kit

WAVEGO Basic

• How to Assemble and Use WAVEGO
• How do I know WAVEGO servo is assembled and calibrated properly
• WAVEGO API Tutorial
• WAVEGO: Custom Action Development Tutorial
• WAVEGO GPIO Control
• WAVEGO-WS2812 LED
• WAVEGO-PCA9685

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.

• In the Additional Boards Manager URLs box, input the link: https://dl.espressif.com/dl/package_esp32_index.json then click OK.

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

https://dl.espressif.com/dl/package_esp32_index.json，http://arduino.esp8266.com/stable/package_esp8266com_index.json

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

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.

Upload example to WAVEGO

• Download WAVEGO Open-source demo (Arduino), and double click the Arduino\WAVEGO\WAVEGO.ino

• 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.

• 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.

Documents

• Mechinal Drawing
  
• PCA9685 Datasheet
• INA219 Datasheet

=Demo Codes

• WAVEGO Demo Code (Arduino)
• WAVEGO Demo Code (Pi)

Support

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