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  My SpotMicro
Posted by: Knösterpitter - 02-21-2020, 09:08 PM - Forum: Forum Member Builds - No Replies

this is the interception of my SpotMicro
unfortunately have to wait for a few things.
Because the fastenings for the circuit boards did not stick to the chassis, I built a new bracket. I also build a bracket for the voltage section on the bottom.

I have to wait for the batteries Confused

to be continued......

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  Just starting my build now!!!
Posted by: Ryanb100 - 01-20-2020, 01:06 PM - Forum: Forum Member Builds - Replies (1)

I already have a load of questions, 
What software is everybody using, recommendations?
For the printed parts, what orientations are the best to minimise supports?
Raspberry Pi? Jetson?

Thanks in advance

And I will post some pics  Smile

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  Hello SpotMicro
Posted by: Patrick - 11-26-2019, 07:11 PM - Forum: Forum Member Builds - Replies (2)


the last couple of weeks I build a SpotMicro too. Thanks to all of you for providing the files. I changed a few things because my servo came with T25 aluminiun servo horns. Also my battery did not fit inside the robot, so I enlarged the body 50mm. As I hate to print support, I changed the cover parts, so no support is needed anymore.

Also I build a silicone mold for paws. This way you can swap the paws like shoes, if they wear down.

You can find all files here https://www.thingiverse.com/thing:3977841

As battery, I use 18650 Sony Konion VTC6 cells as 2S3P pack. Also I use a HobbyKing SBEC (YEP20) which is rated to 20A continuous current to drive the servos. PWM signal for servos will come from a PCA9685 board. Because these boards are totally weak at power rail, I use only signal pin. To power the motors, I soldered a ugly board containing pin headers only. But these headers are connected parallel using huge wires at back.

Next steps will be a much harder task. As I plan to use ROS (still learning), I'm currently developing some kind of low level firmware running on a ESP8266 which subscribes to ROS topics. This firmware just drives the servos and will monitor battery.

some pictures

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  Anyone interested in building a PCB?
Posted by: Patrick - 10-11-2019, 09:07 AM - Forum: Electronics - Replies (1)

Hello from a new member,

my build has recently started. While waiting for motors to arrive and print jobs to be finished, I was thinking about electronics. 

Most of you use PCA9685 boards and they work good so far. However, I've read that some people here fried their boards and also that some killed their servos during stall. This makes me think about a different approach I want to share with you. 
In my opinion, it would be neccessary for the safety of components and also for better operation of robot, if we can get any feedback of the servos. One way I see is measuring current consumption of each servo. If current raises above a given threshold, motor stalls and we can handle this by software (go into different pose or at least shut off everything). By adding a fuse to each stepper, we can hopefully save these expensive parts. 

Both ideas results in a schematics I've build in KiCad. Here is a first impression of the planned board. Lots of work still to do but I want to discuss the entire idea.The board provides power to stepper over a screw terminal. There is a car fuse (20A, or what ever size needed) behind followed by a diode as protection. A huge (2000uF electrolyte) capacitor acts as stabilization of power (sits on back side of PCB). All stepper VCC are connected to this main power rail by SMD fuseholders, so each stepper has its own fuse (2,5A or so). Also this board is equipped with 4 INA3221 current sensors. These nice I2C devices bring 3-individual channels each, so one INA for each leg. They can measure voltage, current and also raise events (over current, warning thresold etc.) Also, there is a PCA9685 to drive the servos. Because INA3221 and PCA use the same address range, it is only possible to place one PCA and four INA meaning you can attach 12 steppers and get 4 PWM without current measurement. 

This board fits to any MCU which supports I2C, so it doesn't matter if you use Arduinos, Jetson, RPI or what ever. The overall size is 59mm x 128mm, hopefully it is not too large?


What do you think? Should I go this way further? Any hints, ideas, drawbacks? Anyone interrested supporting me? This is my first PCB (before only prototyping boards), INA and PCA are simple components, but there might be some design error. Is someone able to check this? I'll share KiCad project later, might be something for the main git repository of SpotMicro?

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  I made one too
Posted by: Dario#02 - 09-04-2019, 05:48 PM - Forum: Forum Member Builds - No Replies

I'm waiting 6336HV motors to be delivered.
I have used FLUO TPU for my foot ,top ,bottom, front and rear covers and PETG for all the rest.
All parts have been printed with DIY 3D printer "Hypercube Evolution". Search it on Internet if you don't know what is it! Smile
Tpu reacting to blue light:

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  Android App
Posted by: Dario#02 - 09-04-2019, 05:15 PM - Forum: Control Mobile Application - No Replies

Hi everyone, I wanted to inform you that if needed I can create a simple App to give commands using the voice, maybe using accelerometer and gyroscope in your smartphone, or with a GUI.
You need a Bluetooth connection or a WIFI client. If it is not possible via Jetson, you can use a serial communication via HC-06 or an SPI via esp8266 / esp32 to jetson.
I apologizes for possible writing errors.

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  CORE V1.00 Released
Posted by: brad - 09-03-2019, 04:00 AM - Forum: Getting Started - Replies (1)

Hi Everyone,

We've released a new version of the SpotMicroAI hardware, the CORE hardware.

The CORE hardware is designed as the minimalist version of SpotMicroAI, able to be built for the lowest cost while being able to achieve full walking. It uses a camera instead of ultrasonic sensors (easier wiring), and does not feature a LIDAR. Future branches of spotmicro may include additional sensors or LIDAR but the CORE hardware is designed to be accessible, easy to use, and low cost.

You can find the files at:

The 3D printable parts should be relatively stable at this point. Recommended electronics are a raspberry Pi 4 with a wide angle PI camera. A more in-depth overview of the electronics assembly is forthcoming.

I hope everyone enjoys! If there are any other features you'd like to see included in future versions, leave a comment below.



Change Log:

Version 1.00 - September 2, 2019
- Legs are now designated as Right or Left
- Body/Shoulders have been adjusted to facilitate left and right symmetry in the legs
- Captive nuts are used where possible
- Blank Nose and Black rear parts are included
- No need to reflect parts after download
- Chassis plate for RPi included
- Chassis plate for Jetson Nano included
- No holes cut in the covers

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Posted by: brad - 08-30-2019, 05:51 PM - Forum: Getting Started - No Replies

I know there are quite a few people interested in the project who don't have access to a 3d printer and so wanted to float out that I'm happy to print off the pieces and mail them out if people are interested. If people wanted I could even include some of the electronics like the PCA9685 or mechanical parts like the bearings which are sometimes difficult to source if you haven't done it before.

Either send me a PM or reply to this if you're interested.

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Posted by: brad - 08-24-2019, 02:01 AM - Forum: Electronics - Replies (3)

So my batteries put out quite a bit more current than my fixed power supply, which is both a good and bad thing. Good in that the servos perform significantly better when they have enough current, and bad because the PCA9685 roasted with that much current. My home office now smells of magic smoke. Any ideas on how to supply 12 power hungry servos? This was only with the regular MG996R from hobbyking, beefy servos I imagine would take even more power.

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  Need Idea's
Posted by: adaypa - 08-23-2019, 08:15 PM - Forum: Electronics - Replies (3)

Hello I'm building the robot with the 6336hv and it's going pretty well. Since I'll use the Intel Realsense depth camera I won't need the frontal distance sensor so I'm thinking what should I use instead to cover this space. I was looking for a tft for display some info or even a fake eyes. What do you guys think? Any ideas? Thanks ! Smile

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