SpotMicro Part 17

Robot Dog, Part 17.
In the first seven videos we built a robot dog based on the Boston Dynamics Spot, only smaller.
In part 8, we installed the Bullseye Raspbian OS into the MicroSD card along with Java 11, MRL and WiringPi
Part 9 we downloaded and installed the SpotMicro_MRL program and we started looking at how the program worked.
In Part 10, we looked at the Servo Services and start the servo calibration process.
In Parts 11 and 12, we started looking at the Kinematic programs, more specifically Forward and Inverse Kinematics.
In Part 13, we added reinforcement of the Top Arm joints.
In Part 14 we started to look at the start of combining the kinematics with coordinated movement controls.
In Part 15 as a result of issues with the Raspberry Pi's power when all the servos started moving, I added a capacitor on the Raspberry Pi's Power Supply.
In Part 16 I continued with the combining the kinematics with coordinated movement controls and covered some of the gesture controls demo in this at the same time.

In this part we look at Planes of Reference.
In the previous videos parts 11 and 12 on Kinematics, we use the body of the robot as the plane of reference.
This works well until you try to balance the robot.
Installed as part of Part 4, we have a MPU6050 Inertial Measurement Unit.
This device allows us to detect the acceleration in 3 axis of both linear and gyroscopic action.
When these are combined, we get Pitch and Roll relative to the ground.
The other thing we need to consider is the centre of mass.
This may not be in the same place on different build, or could be moved forward or back if additional equipment is added such as a lidar or arm.

You can find the GitHub repository for the SpotMicro_MRL program here:
https://github.com/Cyber-One/SpotMicro_MRL
The repository not only has the program, but also a list of the parts used.

As part of repository, you will also find the documentation I have been building as part of this robot build.
There is also a message posted in the discord whenever I update the program.

Any updates I make to the MRL_SpotMicro program will be included as part of the repository.

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I have a number of Play-Lists that may also interest you:
Fred's modified Inmoov Robot Head created in the Fred's Head Series.
https://www.youtube.com/playlist?list=PLgXTfFM40HqEbnFfhaLPmLv_RS1ZRCilI
Fred's Head, a better stand. (This series)
https://youtube.com/playlist?list=PLgXTfFM40HqHV5EPKPULJDfbuXK1KUeeS
The Inmoov Walking Robot Series.
https://youtube.com/playlist?list=PLgXTfFM40HqEMwg9rJ078INRYWDCG66B3
Fred's Static Leg build and attach series, now finished.
https://youtube.com/playlist?list=PLgXTfFM40HqHhaHpmX4HQO9xJAz-pAsOm
The Creality CR10S5 3D Printer Series.
https://youtube.com/playlist?list=PLgXTfFM40HqH2fJ3Wsu2wX90h1_V4uI5n
The Cocoon Create Touch 3D Printer Series.
https://youtube.com/playlist?list=PLgXTfFM40HqHJlvRuSbhYUvdWBraW9tri
My Industrial videos.
https://youtube.com/playlist?list=PLgXTfFM40HqFNvDBGjblVrEkl3jrQKMDE
And finally some of my unboxing videos.
https://youtube.com/playlist?list=PLgXTfFM40HqFXHXRLBa9tsLhRQGcORZQO

See you in the next video :-).