ADEEPT Quadruped Robot User manual

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Warning
Please pay attention to the following issues:
There are small components included in this kit. Make sure it's not reachable for children
under 6 years old in case swallowing mistakenly. If accident occurs, please seek medical help
immediately.
Parental guidance recommended for young children.
Do not place the products or the components near any AC socket or other circuits to avoid
electric shock.
Keep away from any liquid or flame when using the product.
Store the product in amicable environment, avoid extreme temperature and humidity.
Turn off the power after use.
Do not touch the moving part of the product or interfere it with any physical objects or
signals in case damages to the product or fire generated by over heat.
Product may be warm during use.
Do not reverse the cathode and anode of the power in case damages to the circuit.
Refer to instructions before use.
Handle the product gently, avoid vigorous shaking or slamming.
About
Adeept is a technical service team of open source software and hardware. Dedicated to applying
the Internet and the latest industrial technology in open source area, we strive to provide the
best hardware support and software service for general makers and electronic enthusiasts
around the world. We aim to create infinite possibilities with sharing. No matter what field you
are in, we can lead you into the electronic world and bring your ideas into reality.
The code and manual of our product are open source. You can check on our website:
http://www.adeept.com/
If you have any problems, feel free to send an email for technical support and assistance:
[e-mail]
On weekdays, we usually will reply within 24 hours. Also welcome to post in our official forum:
http://www.adeept.com/forum/
Copyright
This user manual and code can be used for learning, DIY, refitting, etc., except for commercial
purpose. The Adeept Company owns all rights of contents in the manual, including but not
limited to texts, images, data, etc. Any distribution or printing should be implemented with the
permission of the Company, or it will be deemed illegal.

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Contents
Contents...............................................................................................................................................3
1.Component List................................................................................................................................ 4
1.1.Acrylic Plates......................................................................................................................... 4
1.2.Machinery Parts.................................................................................................................... 5
1.3.Electronic Parts......................................................................................................................5
1.4.Tools....................................................................................................................................... 7
1.5.Self-prepared Parts................................................................................................................7
2. Install the software..........................................................................................................................8
2.1.Install the Arduino IDE.......................................................................................................... 8
2.2. Install the library files.........................................................................................................10
2.3.Install the driver.................................................................................................................. 14
2.4. Upload program................................................................................................................. 16
3.Assembly........................................................................................................................................ 21
3.1.Preparations before Assembly............................................................................................21
3.2. Servo debugging.................................................................................................................23
3.3 Install and Remove Batteries.............................................................................................. 24
3.4 Assemble the legs................................................................................................................27
3.5 Assemble the other parts of the robot............................................................................... 35
4. Program debugging....................................................................................................................... 51
5.Install the upper computer control software Python....................................................................52
5.1.Download software.............................................................................................................52
5.2. Control the robot................................................................................................................56
6.Afterword....................................................................................................................................... 58

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1.Component List
1.1.Acrylic Plates
The acrylic plates are fragile, so please be careful when assembling them in case of breaking.
The acrylic plate is covered with a layer of protective film. You need to remove it first.Some holes
in the acrylic may have residues, so you need to clean them before use.
A0-1
1PCS
A0-1
1PCS
A0-1
1PCS
A0-1
1PCS
A0-1
1PCS
A0-1
1PCS
A0-1
8PCS
A0-1
4PCS
A0-1
1PCS
A0-1
7PCS
A0-1
5PCS
A0-1
5PCS
A0-1
2PCS

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1.2.Machinery Parts
1.3.Electronic Parts
Esp-8266 WiFi Module X 1
Servo X14
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X28
X21
X24
X14
X36
X19
X4
X2
X4
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M3*8
Countersunk
Head
Screw
M1.7*6*6
Self-tapping
Screw
M2*6
Copper
Standoff
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M2
Nut
M3
Nut
M2*8
Screw
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M2.5*8
Screw
M3*10
Screw
M3*8
Screw
M3*22
Nylon
Standoff
M3*40
Nylon
Standoff
M3*20
Nylon
Standoff
X12
X2
M2*14
Screw
M1.4*6
Self-tapping
Screw
M2.5*11
Copper
Standoff
X2
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M2.5*4
Screw
M3*15
Nylon
Standoff
X4
X6
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X4
X4
X4

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MPU-6050 X1
Adeept Ultrasonic Module X1
AdeeptPixie X1
18650 Battery Holder Set X1
WS2812 LED Module X2
3-Pin Wire X2
4-PIN Wire-1 X1
Female to Female Dupont Wire X10
IR Reciver x1
Remote Controller x1
4-Pin Wire-2 X1

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1.4.Tools
1.5.Self-prepared Parts
18650 Battery X2
18650 battery specification:
It is recommended to use lithium battery above 3000mAh and without overcurrent
protection. The power supply current requirement is above 3A. Using 18650 lithium
battery with overcurrent protection function, 18650 battery whose capacity is less than
1700mAh, 18650 battery specially for strong-light flashlight, 18650 battery with power
shortage or counterfeit lithium battery produced by informal manufacturers will cause the
unstable work of the robot,power cut and even damage to the Raspberry Pi and robot.
The robot can be turned on normally,but the robot will automatically restart or shut down
after, also because of the problem caused by the 18650 battery.
Cross Socket wrench X1
Cross Screwdriver X1
Large Cross-head Screwdriver X1
Winding Pipe X1 300mm*2
Ribbon X1
Flathead Screwdriver X1

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2. Install the software
2.1.Install the Arduino IDE
1.Type the arduino.cc in the browser and download the arduino IDE.
2.Download different versions depending on the operating system.

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3.Install，remember your installation directory.
（remember your installation directory）

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2.2. Install the library files
Enter https://www.adeept.com/learn/ on browser, and download the code, library
files and driver file.

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Copy the four library files Adafruit_NeoPixel, Servo,IRremote and SR04 to the libraries
file in the installation directory of Arduino IDE.

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2.3.Install the driver
1.Connect the control board and open Arduino, you will see the serial port is not accessible, meaning
that you have not installed the serial port driver.
2.Open the driver program, install corresponding driver according to the computer operating system.

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3. Click to install.

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4.Now you will find the Arduino serial port is accessible (different computer configuration has different serial
port).
2.4. Upload program.
1.Turn on the power and switch program upload to 0.

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2.Open Arduino software and select the control board.
3.Select serial port(different computer configuration has different serial port)

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5.Upload program.
Two sets of code are provided, the infrared remote control (four_feet_robot_wifi) and wifi control
(four_feet_robot_infrared). Upload the code according to your need.
Because the servo has a certain angle error, when you finish installing the servo, you may find that the four legs
of the robot cannot stand on the same level,and you need to fine-tune the angle through the program. (The
variable angle0-angle11 corresponds to 12 servos respectively)

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6.After uploading, turn off the power and switch to 1, and then turn it on.
Run the program: LED is yellow when turned on.

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After the Wi-Fi and attitude sensor are debugged (about 30 second), LED changes to blue.
Now you can start to control the robot. (Note: After turning on the power, lay flat the robot when the LED does
not turn to blue yet. Do not move the robot during the process because the attitude sensor is calibrating and
reading the data.)
Install the servo: When the LED turns blue, install the servo (do not turn off the power).