MangDang Technology Mini Pupper, Manual

Page 1: ...Mini Pupper Release 1 0 0 alpha MangDang Technology Co Limited Jan 30 2023...

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Page 3: ...GUIDE 1 ROS2 Open source Education Robot Kit 1 i...

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Page 5: ...Mini Pupper will make robotics easier for schools homeschool families enthusiasts and beyond Mini Pupper 2 is launched on Kickstarter in late 2022 Mini Pupper joined several workshops at AWS 2022 re...

Page 6: ...upper Makuake Campaign Mini Pupper 2 Kickstarter Campaign Amazon AWS Robotics Blog Amazon 2022 re MARS Workshop Guide Many makers are contributing to Mini Pupper project some parts referred to other c...

Page 7: ...o LD06 as it is smaller OpenCV Camera module For potential security issues the camera module is not included in our default package If you want to explore camera AI functions you can choose a normal U...

Page 8: ...ogy educational service or distribution in each country If you are interested in a partnership with us to realize open source robotics please send an email to us sales mangdang net thanks Order parts...

Page 9: ...er on Mini Pupper After power on if you push on the power button for at least 3 seconds again it will power off 2 Connect the controller to the Pi by putting it pairing mode To put it into pairing mod...

Page 10: ...ive mode and deactivate mode Note the controller s front light will change colors to indicate if the robot is deactivated or activated R1 Press to transition between Rest mode and Trot mode Left joyst...

Page 11: ...ck double flashes If it starts making slow single flashes hold the home button down until it stops blinking and try again Battery voltage If you use external power supply to power the robot with anyth...

Page 12: ...f you have 3D printer and still hope to use the previous 3D printed design that s OK 1 Write the pre built image into microSD Tools In addition to the tools included in the kit the following items are...

Page 13: ...er Release 1 0 0 alpha Step 1 2 Download the image You can download latest image file via the below folder MiniPupperRelease from MangDang The below picture is the custom carry board 1 1 What is Mini...

Page 14: ...ge into microSD card Insert the microSD card into your PC s SD card reader and write the image We recommend the image creation tool balenaEtcher or Win32DiskImager as it is easy and reliable Please re...

Page 15: ...Mini Pupper Release 1 0 0 alpha 2 Position of the screws The pictures show the position of the screws briefly 1 1 What is Mini Pupper 11...

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Page 18: ...Mini Pupper Release 1 0 0 alpha The up pictures are before April 15 2022 version the below pictures are after April 15 2022 version 14 Chapter 1 ROS2 Open source Education Robot Kit...

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Page 20: ...Mini Pupper Release 1 0 0 alpha The up pictures are before April 15 2022 version the below pictures are after April 15 2022 version 16 Chapter 1 ROS2 Open source Education Robot Kit...

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Page 23: ...prevents the nut from loosening but it is not essential as it can be tightened only when looseness is noticed Bolt to use M2x5mm 2x4 8 M2x8mm 3x4 12 M2x12mm 1x4 4 M2x14mm 1x4 4 Step 3 1 Single leg As...

Page 24: ...and tightened by inserting them into the screw holes in Be careful about the sides of The two ballbearings in should be inserted all the way in and the end should be slightly visible as shown in the...

Page 25: ...2x8mm screw and an M2 locknut Insert the screw from the bottom to the top of pass through and tighten with the nut It is important to pay attention to the orientation of Look carefully at the position...

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Page 27: ...tment of the length of The length of must match the length of When adjusting the length it is easier to use two long screws to make sure that the lengths match Once the lengths have been adjusted take...

Page 28: ...ist you can use two screwdrivers to assist Assemble and Use one M2x5mm screw Insert the screws into first insert them into the holes of and tighten them The large hole in should be facing the surface...

Page 29: ...ts the top and bottom parts with the grooved side facing inwards Insert a screw into a set of ball bearing Then insert the screw into the hole Taking care to look at the warped side of to make sure it...

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Page 32: ...Mini Pupper Release 1 0 0 alpha Assemble and 28 Chapter 1 ROS2 Open source Education Robot Kit...

Page 33: ...ase 1 0 0 alpha Use an M2x8mm screw and an M2 nut Insert the screw into and put through then tighten it with the nut The direction of the front and back of can be either Left and right leg 1 1 What is...

Page 34: ...pper Release 1 0 0 alpha Assemble and Use an M2x8mm screw and an M2 nut Insert the screw into and put through then tighten it with the nut Left and right leg 30 Chapter 1 ROS2 Open source Education Ro...

Page 35: ...le and Use M2x14mm screws and two sets of ball bearings Thread the screws through the bearings bearings in that order The screws are not fixed but you will tighten them when you mount the servo in the...

Page 36: ...Completion of a right leg Now we have one leg on the right side Here are some pictures so you can see it from different angles The left leg should be symmetrical with the right one 32 Chapter 1 ROS2...

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Page 38: ...Mini Pupper Release 1 0 0 alpha opposite side 34 Chapter 1 ROS2 Open source Education Robot Kit...

Page 39: ...Mini Pupper Release 1 0 0 alpha Step 3 2 Four legs 1 1 What is Mini Pupper 35...

Page 40: ...it will loosen quickly if tightened too tightly They should be secured with Loctite It is possible to dismantle the nut later as it can be loosened by a strong force Some screws are also secured with...

Page 41: ...bly Step 4 1 Hip Please refer to the below video clip There are two kinds of servo cables No 1 4 7 10 cables length is 9cm other cables length is 15cm For the position of each servos please refer to t...

Page 42: ...tput shaft is at its middle position by fault as the left picture shows The shaft position may be changed during assembly as the middle picture shows if you find it you can use the servo horn to move...

Page 43: ...Mini Pupper Release 1 0 0 alpha Put two servos into hip parts Insert two servos into the box and fix them with M2x6mm screws 1 1 What is Mini Pupper 39...

Page 44: ...background it s easier to attach the leg to the hip during the calibration step If you are the first time to assemble quadruped robot we don t recommand you use the Loctite Attach the leg to the hip u...

Page 45: ...Mini Pupper Release 1 0 0 alpha Tighten the screws with Loctite Use a toothpick to apply Loctite to the servo s screw holes 1 1 What is Mini Pupper 41...

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Page 47: ...Mini Pupper Release 1 0 0 alpha Step 4 2 Four Hips Please pay attention to the positions of the servo gear output shaft 1 1 What is Mini Pupper 43...

Page 48: ...servos are shown as below There are two kinds of servo cables No 1 4 7 10 cables length is 9cm other cables length is 15cm It is useful to put masking tape on the cables and write the number of servo...

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Page 50: ...ini Pupper Release 1 0 0 alpha Step 5 2 Front parts The front part is designed to hold the LCD screen Make sure you don t mistake it for the rear part 46 Chapter 1 ROS2 Open source Education Robot Kit...

Page 51: ...Mini Pupper Release 1 0 0 alpha Step 5 3 Rear side The same procedure as for the front part 1 1 What is Mini Pupper 47...

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Page 53: ...the battery please ensure our battery spec at first especially the Voltage should be less than 7 4V you can also refer to other backers work https www facebook com groups 716473723088464 posts 7776162...

Page 54: ...a Be careful of the carbon fiber front and rear orientation Slide the battery backwards and secure it Pass the cable through the hole in the bottom plate and bring it up to the top 50 Chapter 1 ROS2 O...

Page 55: ...Mini Pupper Release 1 0 0 alpha Step 5 5 Bottom plate The orientation of the plate must be such that the hole is at the front If the leg is stuck turn the part 1 1 What is Mini Pupper 51...

Page 56: ...for the display Fold the thin flexible cable at the edge of the display Attach the board and the display to the main unit When attaching the display you can use a stick to gently push the flexible ca...

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Page 58: ...Mini Pupper Release 1 0 0 alpha Be careful with the yellow parts as it has a front and back 54 Chapter 1 ROS2 Open source Education Robot Kit...

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Page 60: ...ase 1 0 0 alpha Step 5 7 Custom circuit board Plug the display cable into the custom circuit board Insert the 12 servo cables In the picture you can see J1 J2 J3 J12 56 Chapter 1 ROS2 Open source Educ...

Page 61: ...Mini Pupper Release 1 0 0 alpha Use four M2x5mm screws and four short supports 1 1 What is Mini Pupper 57...

Page 62: ...alpha put on the carbon fiber board plug in the battery cable This connector may interfere with the hips parts so you have to slide it through a hole in the middle of the board 58 Chapter 1 ROS2 Open...

Page 63: ...Mini Pupper Release 1 0 0 alpha Use eight M2x5mm screws The orientation of the plate must be such that the large opening is at the front 1 1 What is Mini Pupper 59...

Page 64: ...ini Pupper Release 1 0 0 alpha Pull the custom circuit board closer to the body The board may float but you can use four long posts to hold it in place 60 Chapter 1 ROS2 Open source Education Robot Ki...

Page 65: ...Mini Pupper Release 1 0 0 alpha Need to pay attention to the cable of the No 1 servo to prevent it from being overwhelmed 1 1 What is Mini Pupper 61...

Page 66: ...Mini Pupper Release 1 0 0 alpha Step 5 8 Fan To install the fan 62 Chapter 1 ROS2 Open source Education Robot Kit...

Page 67: ...Mini Pupper Release 1 0 0 alpha Step 5 9 Raspberry Pi 4 1 1 What is Mini Pupper 63...

Page 68: ...Mini Pupper Release 1 0 0 alpha 6 Cover Assembly Please refer to the below video clip Step 6 1 Side panels 64 Chapter 1 ROS2 Open source Education Robot Kit...

Page 69: ...Mini Pupper Release 1 0 0 alpha Step 6 2 Shin guards Use four M2x10mm countersunk screws 1 1 What is Mini Pupper 65...

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Page 71: ...1 0 0 alpha Step 6 3 Shoulders Insert only the screws first and then insert the shoulder parts into the gap Insert the 2 mm hex driver into the hole in the shoulder part and tighten the screws 1 1 Wha...

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Page 73: ...p 6 4 Top cover Use four M2x10mm screws if the holes are too small to fit the screws as the part is made with a 3D printer you can enlarge the holes by turning them with the supplied 2mm hexagonal scr...

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Page 75: ...Mini Pupper Release 1 0 0 alpha Step 6 5 Shoes Put on 4 shoes 1 1 What is Mini Pupper 71...

Page 76: ...Mini Pupper Release 1 0 0 alpha Step 6 6 Completion 72 Chapter 1 ROS2 Open source Education Robot Kit...

Page 77: ...Mini Pupper Release 1 0 0 alpha 7 Add On Assembly Step 7 1 Lidar If you order the Lidar the Lidar holder will be shipped together 1 1 What is Mini Pupper 73...

Page 78: ...ra If you order the camera the camera holder is not included in the kit But you can 3d print it from the stl file down below https drive google com drive folders 1lRADDbAt7mSBJE4j8HCji1WbWcpneUED 74 C...

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Page 80: ...Mini Pupper Release 1 0 0 alpha Step 7 3 Completion 76 Chapter 1 ROS2 Open source Education Robot Kit...

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Page 82: ...ro HDMI cable for connection between display and Raspberry Pi Step 1 1 Startup raspberry pi Connect the Raspberry pi to the display with a microHDMI cable Connect a USB keyboard and mouse to the Raspb...

Page 83: ...Mini Pupper Release 1 0 0 alpha Step 1 2 Log in Press ubuntu button on the screen to log in Default username ubuntu Default password mangdang 1 1 What is Mini Pupper 79...

Page 84: ...ources On the screen that comes up select the three dots for other and type Japanese to select it Type Japanese to select it Step 1 4 Open ports for ssh Optional Attempt to make an ssh connection from...

Page 85: ...ng Mini Pupper calibration if the servo horn assembly position is not right it is not easy to calibrate even break the servo Please follow the below easy guide not for ROS image Make sure Mini Pupper...

Page 86: ...calibration Calibrate each servo by moving the bars or click the space postion near the bars Reset button when you hope to re start from the last time Restore button Restore factory settings and Press...

Page 87: ...Mini Pupper Release 1 0 0 alpha Then assemble the 4 legs by hand at the right position as the below picture shows 1 1 What is Mini Pupper 83...

Page 88: ...ee angle The angle of the legs will change in conjunction with the position of the slide bar on the screen However if it does not move then the steps you have followed are incorrect You can use the iP...

Page 89: ...measure the accurate inclination of the legs so it is better to place the legs on a grid like a piece of graph paper to check that they are in the same position from front to back and from side to si...

Page 90: ...ngs Press to close the calibration application Step 2 2 Connect controller Please check the next chapter If you can control it with a controller it s OK 1 1 6 SLAM Contents SLAM SLAM Simultaneous Loca...

Page 91: ...ir carto_ws cd carto_ws wstool init src wstool merge t src https raw githubusercontent com cartographer project cartographer_ ros master cartographer_ros rosinstall wstool update t src sudo rosdep ini...

Page 92: ...o udevadm control reload rules sudo udevadm trigger sudo reboot Then go into pairing mode with the controller Home button share button for 3 sec Run ds4drv from command line until the controller is co...

Page 93: ...ASTER_URI http 192 168 1 106 11311 export ROS_HOSTNAME 192 168 1 107 2 Quick Start 2 1 Calibration Through this script you can calibrate the angle of every servo in one turn Just input the angles br T...

Page 94: ...s recommended to run this command on Mini Pupper Don t run this command while using move_base because even if you are doing nothing with the joystick it would still send cmd_vel with all the values a...

Page 95: ...ember to edit map yaml br The first line should be image map pgm Then copy map pbstream map pgm and map yaml files you just saved to your_ws src minipupper_ros mini_pupper maps 1 1 7 Navigation Conten...

Page 96: ...he launch file roslaunch mini_pupper navigate launch 1 1 8 Simulation Contents Simulation Instructions for Creating an AWS RoboMaker Environment for Mini Pupper please refer to https github com mangda...

Page 97: ...1 0 0 alpha Instructions for Amazon 2022 re MARS RoboMaker MiniPupper Workshop please refer to https catalog us east 1 prod workshops aws workshops 511d7599 73bd 4142 bd6b fa83dbe3d8ce en US 1 1 What...

Page 98: ...tions you can choose a normal USB camera module of course a 3D camera module is better for study If try the 3D camera module we recommend you OpenCV s latest 3D camera module named OAK D LITE comes fr...

Page 99: ...Terminal 2 roslaunch depthai_examples mobile_publisher launch Terminal 3 rosrun mini_pupper_detect oak_detect py 2 2 Live streaming Will update late 1 1 10 Examples Contents Examples 1 Custom shell pa...

Page 100: ...erequisites HDMI Display micro HDMI cable Keyboard and mouse a new picture 2 2 Run Connect MiniPupper to the display by mirco HDMI cable A wireless adapter for the keyboard and mouse B mirco HDMI cabl...

Page 101: ...r 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 joysti...

Page 102: ...file for Mini Pupper ROS package comes from docker mini pupper ros project 6 2 Docker for Host Host computer setup for interfacing with a Mini Pupper over a network comes from mp_host_setup project 7...

Page 103: ...ill of Materials STL Link STL for 3D print 1 1 12 PCB Contents PCB PCB Design PCB Design For Mini Pupper custom board design please refer to the below pictures You can also find the detailed Schematic...

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Page 105: ...me for development The battery power can only run Pupper dozens of minutes it is not convenient for long time development A1 Please confirm the below solutions for makers Use Raspberry Pi default adap...

Page 106: ...dors can ship to 135 countries regions but not including India Montenegro Armenia Nigeria Colombia South Africa North Korea Sudan Syria Hawaii Palma ola and County Antrim Q6 Shipping Info Requirement...