Examples

Contents

• Examples

  • 1. Custom shell parts

  • 2. Custom Facial Animation

  • 3. Keyboard controller

  • 4. Web controller

  • 5. How to control a Mini Pupper PWM servo

  • 6. Forward Kinematics

  • 7. Inverse Kinematics

  • 8. PID control

  • 9. Docker

  • 10. Scratch program

1. Custom shell parts

Mini Pupper is an open source project, that means, you can custom what you want. You can find all the 3D printed shell files and custom them.

How about connect it to LEGO parts?

Or DIY it like @nisshan_

2. Custom Facial Animation

2.1 Prerequisites

• HDMI Display

• micro HDMI cable

• Keyboard and mouse

• a new custom picture(size: 320x240 pix)

2.2 Run

• Connect MiniPupper to a display, a keyboard and a mouse.

• Ubuntu login(The default password is mangdang)

• Replace the logo.png file using your custom picture

• Reboot Mini Pupper and then you will see your custom picture

3. Keyboard controller

3.1 Keyboard controller based on nonROS version

The feature is based on PupperKeyboardController project, it’s Pygame-based keyboard controller for Stanford Pupper.

• Install PyGame

pip install pygame

• Controls

wasd: left joystick
arrow keys: right joystick
q: L1
e: R1
ijkl: d-pad
x: X
square: u
triangle: t
circle: c

3.2 Keyboard controller based on ROS version

Please refer to the SLAM section.

4. Web controller

Please refer to Mini Pupper Web controller project.

5. How to control a Mini Pupper PWM servo

Mini Pupper servo is a PWM servo, You can connect one servo to Pi board as the following picture shows, run the samle code,and then the servo will move. You can find the code here. You can run it on your Windows or Ubuntu with Python environment, just like the following picture shows.

6. Forward Kinematics

Lecture

Please study the basic knowledge of forward kinematics online first.

You can also refer to the following video clips come from Stanford Robotics Independent Study.

Forward kinematics lecture

Follow-up lecture to clarify some things

Sample code

We prepared a simple Forward kinematics sample code based on Mini Pupper, you can try it here. You can run it on your Windows or Ubuntu with Python environment, just like the following picture shows.

7. Inverse Kinematics

Lecture

Please study the basic knowledge of forward kinematics online first.

You can also refer to the following video clips come from Stanford Robotics Independent Study.

Sample code

We prepared a simple Inverse kinematics sample code based on Mini Pupper, you can try it here. You can run it on your Windows or Ubuntu with Python environment, just like the following picture shows.

8. PID control

Will update later!

9. Docker

9.1 Docker for Pupper

Dockerfile for Mini Pupper ROS package, comes from docker-mini-pupper-ros project.

9.2 Docker for Host

Host computer setup for interfacing with a Mini Pupper over a network, comes from mp_host_setup project.

10. Scratch program

Will update soon!