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@moribots moribots released this 25 Jul 16:43
· 488 commits to spot since this release
v2.0.0
114e85f

I'm happy to announce that together with Adham Elarabawy, I have a completed a total mechanical redesign of SpotMicro. We call it OpenQuadruped! Check out the STEP files here!

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Main improvements:

  • Shortened the body by 40mm while making more room for our electronics with adapter plates.
  • Moved all the servos to the hip to save 60g on the lower legs, which are now actuated using belt-drives.
  • Added support bridge on hip joint for added longevity.
  • Added flush slots for hall effect sensors on the feet.

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I also went ahead and created a new URDF with proper inertial values on each link, making the simulation much more reliable.

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You can still use the original simulation in the spotmicroai branch of this repo.

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