PI4B-4GB WAVEGO KIT (UK), 12-DOF Bionic Dog-Like Robot, Open Source for ESP32 And PI4B

High-DOF bionic quadruped robot

Powered by ESP32 sub controller & Raspberry Pi 4B host controller

TheWAVEGO is a high-DOF bionic dog-like robot which 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 sub controller for connecting rod inverse solving and gait generation, sharing calculating task for the host controller, an additional Raspberry Pi can be attached as the host controller for high-level decision operating.

Product 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 task 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 light weight
• Additional Raspberry Pi can beattached 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.

Selection guide

	WAVEGO Basic	WAVEGO EX	WAVEGO PI4 KIT
Basic pack	√	√	√
Extension pack		√	√
PI4B-4GB add-on			√
Pre-assemble option	√	√

Raspberry Pi 4 controller

More Powerful Processor, Richer Multi-Media Capability, Faster Networking

High-DOF, more flexible motion

Overall 12-DOF, multi connecting rods leg design + inverse kinematics algorithm, significantly increasing the servo effective torque

Ultra compact structure design

5052 aluminum alloy and PA12 nylon structure materials, 40 sets of bearing joint all over the body, rugged and reliable structure, ensuring strength while keeping it light weight

Self-balancing posture

Embedded high precision 9-axes motion tracker ICM20948Accommodating To Different Terrains, keeping the camera stable by self-balancing

5MP 160° wide angle camera*

allows using OpenCV-based functions like facial recognition, color tracking, motion detection, and more

facial recognition

color tracking

* the 5MP camera is only included in WAVEGO EX and PI4 KIT.

Remote control via Web

auto-generated WiFi Hotspot on startup, needs no compiling environment configuration,allows connecting to and login the control page via smartphone or PC browser, without installing app

Developing high-level functions

an Raspberry Pi can be attached as host controller to communicate with the sub controller via UART,the ESP32 sub controller will share lots of calculating task like connecting rod inverse solving and gait generation, retaining more Raspberry Pi performance for developing high-level functions

Highly Integrated Base Board

Introduction

Dimensions

Specifications

General
Product name	WAVEGO high-DOF bionic quadruped robot
Stand up	length 218mm, width 116mm, height 152mm
Lie down	length 228mm, width 116mm, height 127mm
Overall weight	BASIC: 465g (with batteries)
	EX / PI4 KIT: 554g (with batteries)
DOF	12 overall, 3 per single leg
Operating system
Demo code	FreeRTOS + Raspberry Pi OS
Motion performance
Available gait	shake hands | stand up | crouch slowly | diagonal gait | jump | self-balancing
Motion extension	Providing motion programming example, including flexible Bezier curve speed motion function
Max load	BASIC: 300g
	EX / PI4 KIT: 200g
Servo info
Dimensions	23.2 x12.1 x25.25 mm
Weight	13.0 ± 1g
Operating voltage	6V
Idle speed	0.1sec/60° (100RPM)
Stalling torque	2.3kg.cm (31.99oz.in)
Rated load	0.7kg.cm
Rated current	350mA
Control method	Pulse width modification
Control system type	Digital comparator
Visual function
FreeRTOS demo	web-based real time video streaming
Raspberry Pi OS demo	real time video streaming | facial recognition | color tracking | moving object detection
Note: all the demo codes are open sourced, the Raspberry Pi OS demo is based on open source projects flask-streaming and OpenCV
Processor and memory
ESP32 sub controller	Processor: Xtensa LX6 dual-core processor @240MHz
	SRAM: 520KB+8MB
	Flash: 448KB+4MB
Others
WiFi standard	802.11b/g/n
Bluetooth standard	Bluetooth 4.2, including traditional Bluetooth (BR/EDR) and Bluetooth low energy (BLE)
External port	2*5P multi-function extension port (host controller communication, power supply selection, assembly mode selection, etc.)
	DC battery charger jack
	Type-C (download, UART communication, peripheral expansion)
Power supply	Battery type: 18650 Li-ion batteries (NOT included)
	Supply voltage: 7-8.4V
	Recharge voltage: 8.4V
	Protection: over charge/discharge protection, over current protection, short circuit protection, reverse proof, equalizing charge, stable and safe operating
	Output voltage: provides 5V output for other host controller

Resources & Services

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WIKI:WAVEGO

* Resources for different product may vary, please check the wiki page to confirm the actually provided resources.

Комплект поставки

WAVEGO BASIC

1. WAVEGO body case x1
2. WAVEGO basic parts x1
3. Semi-transparent acrylic panel x1
4. Double-sided sticker x1
5. WAVEGO base board x1
6. 2MP camera x1
7. 2.4G antenna x1
8. 0.91inch OLED display x1
9. Micro thrust bearing x14
10. Micro ball flange bearing x30
11. USB cable (~1m) x1
12. Plus screwdriver x1
13. Cross wrench sleeve x1
14. IPEX 1 to SMA cable (~17cm) x1
15. Jumper wire (~20cm) x4
16. 4PIN PH2.0 cable x1
17. Servo pack x1
18. OPTIONS 8.4V 2A battery charger x1
19. Screws and standoffs x1
20. Portable bag x1

WAVEGO EX

1. WAVEGO body case x1
2. WAVEGO basic parts x1
3. Raspberry Pi extension holder x1
4. 5MP wide angle camera x1
5. Cooling fan x1
6. Semi-transparent acrylic panel x1
7. Double-sided sticker x1
8. Micro thrust bearing x14
9. Micro ball flange bearing x30
10. WAVEGO base board x1
11. 2MP camera x1
12. 2.4G antenna x1
13. 0.91inch OLED display x1
14. Plus screwdriver x1
15. Cross wrench sleeve x1
16. 4PIN PH2.0 cable x1
17. IPEX 1 to SMA cable (~17cm) x1
18. Jumper wire (~20cm) x4
19. USB cable (~1m) x1
20. Servo pack x1
21. OPTIONS 8.4V 2A battery charger x1
22. Screws and standoffs x1
23. Portable bag x1

WAVEGO PI4 KIT

1. WAVEGO body case x1
2. WAVEGO basic parts x1
3. Raspberry Pi extension holder x1
4. 5MP wide angle camera x1
5. Cooling fan x1
6. Semi-transparent acrylic panel x1
7. Double-sided sticker x1
8. Micro thrust bearing x14
9. Micro ball flange bearing x30
10. WAVEGO base board x1
11. 2MP camera x1
12. 2.4G antenna x1
13. 0.91inch OLED display x1
14. USB cable (~1m) x1
15. Plus screwdriver x1
16. Cross wrench sleeve x1
17. Servo pack x1
18. IPEX 1 to SMA cable (~17cm) x1
19. 4PIN PH2.0 cable x1
20. Jumper wire (~20cm) x4
21. PI4B-4GB x1
22. 16GB micro SD card x1
23. Copper heatsink x1
24. Card reader x1
25. OPTIONS 8.4V 2A battery charger + 5V USB-C power supply x1
26. Screws and standoffs x1
27. Portable bag x1

WAVEGO READY

1. WAVEGO BASIC READY kit x1

RPI WAVEGO ACCE READY

1. WAVEGO EX READY kit x1