Waveshare WAVEGO Pro 12-DOF Bionic Dog-Like Robot Open Source For ESP32 And Raspberry Pi 1. The entire machine has 12 degrees of freedom, with a multi-link structure design for the legs, which increases the effective torque of the servo motors 2. It uses 2.3kg.cm serial bus servos, which can provide real-time feedback on position, speed, and input voltage, etc 3. A real-time operating system serves as the lower-level machine for gait generation and link inverse solution, relieving the computing burden of the upper-level machine and improving the efficiency of gait calculation 4. The ultra-compact structure design can be used on a desktop, with the structure made of aluminum alloy and HP nylon materials, reducing weight while maintaining structural strength 5. The Raspberry Pi can be expanded as the upper-level machine, using OpenCV-related advanced functions. The routine includes face detection, motion detection, and color tracking functions. It reserves expansion interfaces and comes with rich user manuals and secondary development documents 6. It has attitude self-balancing, with a high-precision 9-axis motion tracker ICM20948 that can adapt to various terrain environments and control its own balance 7. Login to the Web to remotely control, without the need for manual configuration of the compilation environment. The machine starts up and automatically establishes a Wi-Fi hotspot. It can be connected and logged into the control page using a mobile phone or computer browser, without the need to download an app 8. It can record actions and perform one-click playback. The robot dog can save the control robot's JSON instructions as a task file, which is saved in the Flash of the ESP32 and will not be lost after power loss. The robot dog can execute complex repetitive operations by calling these task files Parameters 1. Standing: length 218mm, width 116mm, height 152mm 2. Lying down: length 228mm, width 116mm, height 127mm 3. Total weight: - Basic: 465g (including battery) - EX PI5 kit: 554g (including battery) 4. Degrees of freedom: total 12, per leg 3 Operating system 1. Provided routines: FreeRTOS + Raspberry Pi OS Motion performance 1. Supported actions: handshake, stand, slow squat, diagonal gait, jump, self-balancing 2. Motion extensions: action programming routines provided, including flexible velocity functions (Bezier curves) 3. Maximum load capacity - Basic: 300g - EX PI5 kit: 200g Servo information 1. Servo dimensions: 23.2 x 12.0 x 25.5 mm 2. Servo weight: 13g ± 1g 3. Working voltage: 6V 4. No-load speed: 0.1sec60° (100RPM) 5. Stall torque: 2.3kg.cm (31.99oz.in) 6. Rated load: 0.7kg.cm 7. Rated current: 400mA 8. Control mode: digital signal 9. Control protocol type: half-duplex asynchronous serial communication Visual function 1. FreeRT OS Routine: web-based real-time video transmission 2. Raspberry Pi OS routine: real-time video transmission, face detection, color tracking, motion object detection 3. Note: all the codes are open source. The routines in Raspberry Pi OS are developed based on the open-source projects flask-streaming and OpenCV Processor and storage 1. Lower-level device (ESP32): - Processor: Xtensa LX6 dual-core 240 MHz - SRAM: 520KB + 8MB - Flash memory: 448KB + 4MB Others 1. Wi-Fi standard: 802.11bgn 2. Bluetooth standard: Bluetooth 4.2, including traditional Bluetooth (BREDR) and low-power Bluetooth (BLE) 3. External interfaces: - 2 x 5P multi-functional expansion interfaces (for upper computer communication and power supply) - DC charging port - Type-C (for downloading, serial communication, and peripheral expansion) 4. Power supply parameters - Battery type: 18650 lithium-ion battery - Power supply voltage: 7V - 8.4V - Charging voltage: 8.4V - Capacity of a single battery: 2000mAh - Number of batteries: 2 - Battery protection: anti-overcharge, anti-overdischarge, anti-overcurrent, anti-short circuit, anti-reverse connection, balanced charging, stable operation and safer - Output voltage: can output 5V power supply, convenient for powering other main control boards Basic package contents: - WAVEGO Pro (Pre-assembled before shipping) x 1 - Accessory kit x 1 - Power supply x 1 - Packaging box x 1 EX package contents: - WAVEGO Pro EX (Pre-assembled before shipping) x 1 - Raspberry Pi expansion pack x 1 - Accessory kit x 1 - Power supply x 1 - Packaging box x 1 Pi 5 kit package contents: - PI5 WAVEGO Pro kit (Built-in 4GB Pi5, pre-assembled before shipping) x 1 - Accessory kit x 1 - Power supply x 1 - Packaging box x 1