Lorcan the Quadruped Robot
Description
**Lorcan** is a small quadrupedal robot designed to be relatively cheap to produce (< $1k USD) and agile. It is inspired in part by [this post](https://backyardrobotics.eu/2019/04/28/designing-a-brushless-quadruped-robot/). However, I wanted to make my own version that is quasi-direct drive, using a simple gear system. Lorcan uses 4 [ODrive](https://odriverobotics.com/) motor controllers, and 8 encoders. The intent is to use machine learning to learn to walk instead of hand coded control systems. It will use a bottom-facing camera with optical flow to generate a reward signal for reinforcement learning. I plan to use a Raspberry Pi 4. **Update 1:** A small issue in the design requires the printing of 4 additional spacers. These could have been baked into the femurs, but having them be separate works as well. I have uploaded these spacers. I have also improved the tolerances for the ball bearing slots in the extensions (I already have them with the worse tolerances, but I updated it in case anyone else would like to print it). **Update 2:** I have included a new progress shot. The robot mechanics are done, wiring and electronics remain. **Update 3:** I have completed the robot (see image), I can control the limbs arbitrarily. Still working on some basic walking gate to get things started, after which I will switch to using OgmaNeo for reinforcement learning (after mounting a Pi Camera). _This post will be updated as the project progresses._
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