RPI WAVEGO Pro
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Introduction
This is a bionic quadruped robot with 12 degrees of freedom, equipped with 12 2.3kg.cm high torque servos. It is structurally reliable and has flexible movements, integrating cameras, 9-axis motion trackers, RGB and other devices. It also opens up a cross-platform web application for controlling the robot, which can be accessed via a browser on a phone or computer. The ESP32 can be used as the lower computer for linkage inverse kinematics and gait generation, offloading computational tasks from the upper computer. A Raspberry Pi can also be installed as the upper computer for advanced decision-making computations.
Features
- 12 degrees of freedom (DOF), with more flexible and diverse movements.
- Multi-link leg structure + inverse kinematics algorithm, increasing the effective torque of the servo.
- ICM20948 9-axis motion tracker with self-balancing mode available.
- 2.3kg.cm high-torque servo, with a locked rotor torque of up to 5.2kg.cm, offering better expandability.
- It is composed of 5052 aluminum alloy and PA12 nylon parts. There are 40 sets of bearings used for all joints of the whole body, and the structure is firm and reliable.
- Integrated with various interactive devices, including a 0.96inch OLED screen, two RGB-LED indicators, and an active buzzer, etc.
- The demo is developed using Arduino IDE, and there is no need to manually configure the compilation environment. The ESP32 will automatically establish a WIFI hotspot when it is turned on, you can use a mobile phone (Android/iOS) or a computer (Linux/Windows/Mac). Only a browser based on Chromium is required, and there is no need to download an app.
- With a charging port and an automatic download circuit, you can use it while charging.
- Onboard two series 18650 batteries, 5200mAh, larger output current, and more powerful servo.
- Integrated with a lithium battery protection circuit, featuring protection against overcharging, overdischarging, overcurrent, and short circuits.
- Onboard INA219 acquisition chip, convenient for real-time monitoring of battery voltage and charging current.
- 2*5P expansion ports are reserved for the remaining IO and serial ports of the ESP32, with functions including RGB expansion, RX0, TX0, G21, G15, G12, 3V3, 5V, GND. This can be used for communication with a host computer or to connect to other devices.
- The Raspberry Pi can be installed as the upper computer to communicate with the lower computer through the serial port. The ESP32, as the lower computer, can share a lot of computing power for link inverse solution and gait generation, leaving more resources for Raspberry Pi to develop advanced functions.
- The Raspberry Pi kit comes with a cooling fan and an ultra-wide-angle lens. The Raspberry Pi demo includes a web application based on Flask-Streaming that can use OpenCV-based features such as face recognition/color tracking/motion detection.
- All code is open source and rich development documentation and tutorials are provided.
Product Usage
Precautions
Please read the following before use:
- Customers purchasing the ACCE model need to provide their own Raspberry Pi board and install it before normal use. Customers purchasing the US/EU/UK versions need to purchase and install two 18650 lithium batteries (high discharge rate recommended) before normal use.
- When connecting the battery for the first time, check if the LED on the battery module lights up. If it lights, the battery polarity is reversed; if not reversed, the LED will not light. Check and ensure the battery is not reversed. Charging is forbidden if the battery is reversed, as it may cause an explosion.
- This product is not resistant to strong impacts and is not waterproof.
First Time Use
The product comes with a TF card that already contains a pre‑configured image. Insert the TF card into the Raspberry Pi and it is ready to use.
After turning on the power switch, the product will initialize and the OLED screen will display a series of initialization messages. During startup, the Raspberry Pi automatically creates a hotspot. After the main program runs automatically, the IP address will be displayed on the OLED screen. After startup, the meaning of the displayed content on the OLED screen is as follows:
- The first line E: The IP address of the network port, which can be used to remotely connect to the Raspberry Pi; No Ethernet indicates that the Raspberry Pi is connected without a network cable at this time.
- The second line W: After establishing a hotspot in AP mode, the default IP will be displayed as 192.168.50.5; in STA mode, connect to the IP address assigned by a known WIFI; the displayed IP address can be used to connect to the Raspberry Pi wirelessly.
- The third line F/J: Network port number. 5000 is used to access the product main program control page, and 8888 is used to access the JupyterLab page.
- The fourth line AP indicates that the WIFI is in AP mode at this time, and the time indicates the usage time of the device; the value in dBm indicates the signal strength RSSI of the WIFI in STA mode.
Use a smartphone/computer to connect to the hotspot automatically created by the product. The hotspot name is AccessPopup, and the hotspot password is 1234567890. After connecting, open a browser and enter the device's default IP address in AP mode (displayed on the OLED screen on the W line), i.e., type 192.168.50.5:5000 in the address bar to access the product main control interface.
Note: If the product does not automatically create a hotspot after startup, the image on the product needs to be updated.
Joystick Usage
- This controller requires the use of a PC browser together with the Raspberry Pi server. Please follow the steps below:
- In the PC browser, access the Raspberry Pi IP address:5000, and ensure that the page remains active at all times (do not close, refresh, or allow the browser tab to go to sleep).
- The wireless receiver of the controller must be connected to the USB port of the PC, not the Raspberry Pi.
Network Configuration
Network configuration needs to be completed by entering the JupyterLab page. There are two ways to open the JupyterLab page:
- You can click the
button in the control interface of the main program to enter the JupyterLab page; - You can enter the JupyterLab page by accessing the robot IP address:8888. The factory default mode is AP mode, so you can open the JupyterLab page by typing 192.168.50.5:8888 in the address bar.
First time to connect a known WIFI
Since the default Wi‑Fi mode is AP mode, to switch to STA mode and connect to a known Wi‑Fi, follow these steps:
1. After entering the JupyterLab page, click Terminal at the bottom of the page, enter the following command and press Enter to enter the project folder.
bash
2. You can see that the current location is ~/ugv_rpi, then enter the folder of the WIFI configuration tool, enter the following command and press Enter.
cd AccessPopup/
3. Enter the following command to grant executable permission to the WiFi configuration script in the AccessPopup folder:
sudo chmod +x installconfig.sh
4. Run the WIFI configuration script by entering the following command and press Enter.
sudo ./installconfig.sh
5. After running the script, the following interface is displayed. Here, you need to set up a connection to a known WIFI, so enter 5 and press Enter to set up a new WIFI connection.
6. Then it will jump to the add or edit WIFI network interface. After a while, this page will output the WIFI names near the current device, as shown below. There is a serial number in front of each WIFI. Enter the serial number of the WIFI to connect to and press Enter.
7. Then enter the password for the WiFi you want to connect to, and after pressing Enter, the product will connect to the set WIFI hotspot. After the connection is successful, you can see the IP address change of the W line on the OLED screen of the product.
8. The JupyterLab page has to be accessed again with the IP address of the W line on the current OLED screen because the IP address has changed. The product is in STA mode after a successful connection and enters the JupyterLab page with the same screen as before, as shown below, press any key to continue.
9. Then you can press 9 and press Enter to exit the WiFi configuration script.
After connecting to a known WIFI successfully, if the product runs out of the range of the known WIFI when it is powered on thereafter, the product will automatically establish a hotspot, and the hotspot will still be AccessPopup by default.
Switch WIFI mode
- Switch STA mode to AP mode
To switch the device to AP mode to establish a hotspot when connected to a known WIFI, open Terminal on the JupyterLab page, enter bash to enter the project folder, and then enter the following command to establish a hotspot.
sudo accesspopup -a
- Switch back from AP mode to STA mode
To switch the device from AP mode to STA mode after a known WIFI configuration has been performed, enter the following command to reconnect to the known WIFI.
sudo accesspopup
Note: As long as the WIFI mode is switched, the control interface of the product's main program and the IP address of the JupyterLab page must be refreshed accordingly to be accessible.
Delete a known WIFI
- Open the Terminal of the JupyterLab page and enter bash to enter the project folder.
- Enter the following command to view information about all network connections.
nmcli connection show
- Enter the following command to delete a known WIFI. You need to replace <connection_name> in the following command with the name of the WIFI that needs to be deleted.
sudo nmcli connection delete <connection_name>
Note: If you delete a known WIFI that the current device is connected to, the product will automatically create a hotspot after deletion. The hotspot will still be AccessPopup by default. The IP address that accesses the JupyterLab page must be refreshed before it can be used again.
WAVEGO Tutorial Catalog
Resources
Robot Diagram
Open Source Resources
Raspberry Pi Learning Resources
Development Resources
FAQ
It uses 2 18650-type batteries, which are 18mm in length and 65mm in length. The nominal voltage of a single cell is generally 3.7V, and the fully charged voltage is generally 4.2V.
The default account for Raspberry Pi system: ws; password: ws
Question: 3. It prompts to enter the password, but I cannot enter the password, or receive an error?
Linux systems do not print the input content when entering passwords, which means blind typing is required. Just type "raspberry" directly with the keyboard and press Enter.
If the servo does not turn as specified in the tutorial, check if the servo is installed correctly. In assembly mode, the white arm should be installed at a 45-degree angle.
It is normal. Due to the color change of RGB-LED lights, RGB-LED will now appear green when entering assembly mode.
When entering the web interface for calibration, there is no need to keep the G12 and 3V3 shorted in assembly mode.
Please note that the browser must be Google Chrome or Microsoft Edge. When adjusting PWM, a single click is a fine-tuning and the change is subtle; multiple clicks will be more noticeable. If it cannot be adjusted, it may also be that there was a mistake when installing the servo, back to Q5.
If an error occurs when running setup. py, please check if the source or network issues are causing the download to fail. After installation, please enter the Python environment by inputting python3 in the terminal and then input import cv2 to check for any error reports If no errors are reported, the installation is successful. If there are error reports, you can run setup.py multiple times or directly use the installed image.
First, check if the Raspberry Pi is occupying the serial port of the lower computer. If the lower computer is connected to the Raspberry Pi, disconnect it and then re-upload the demo again. If the demo fails to download automatically, enter the download mode manually. After compiling the demo, press and hold the boot button while uploading it and release the boot button during the RST button press. If the problem cannot be solved, please return it for repair.
Please check the configuration you set when flashing the image. For more information, please refer to the product installation tutorial on the WAVEGO Raspberry Pi Wiki page. If you still cannot flash the image successfully, please help the customer flash the image through remote login.
The battery life of WAVEGO Pro depends on various factors such as usage and environment. In general, a single charge can support continuous use for 1 to 2 hours, and for continuous high-intensity operation, it can last 20-30 minutes. However, the specific usage time will vary depending on usage (such as different power settings, different wavelengths) and working environment (such as temperature, and humidity).
Support
Technical Support
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