DOGGO Controller is a firmware for controlling a quadruped robot based on Teensy 4.0 with inverse kinematics (IK) and LX-16A serial bus servos. Work in Progress

• Inverse Kinematics (IK) for leg control
• Support for LSC Serial Servo Controller (Hiwonder Bus)
• Serial communication (via PC or Raspberry Pi)
• Postures and walking mode, Work still in pregress! (stand, sit, walk, etc.)
• Sensor integration support (future feature)

• Teensy 4.0 or Teensy 4.1
• LX-16A Serial Bus Servos (Hiwonder Bus)
• LSC Servo Controller (connected via Serial1) Hiwonder Serial Bus Servo Controller
• Raspberry Pi / PC (for sending commands via Serial)
• DOGGO Quadruped Robot Original DOGGO or my remixed 3D model DOGGO

1. Clone the repository:

   git clone https://github.com/RH-Electronics/DOGGO.git
   cd DOGGO

2. Open the project in Arduino IDE
3. Connect the Teensy 4.0 and upload DOGGO_controller.ino
4. Connect Raspberry Pi / PC via Serial
5. Start issuing commands

Commands are sent via Serial (115200 baud rate).

Example of a command sent via Serial Monitor:

WALK 40 500

STAND 1000

DOGGO/
├── DOGGO_controller.ino  # Main firmware file
├── IK.cpp                 # Inverse Kinematics implementation
├── IK.h                   # Header file for IK
├── LSCSerial.cpp          # LX-16A servo control implementation
├── LSCSerial.h            # Header file for servos

• 🚀 Integration of sensors (BNO055)
• 🚀 Add more commands
• 🤖 Autonomous mode support
• 🔥 AI LLM integration, control via Raspberry Pi

👨‍💻 Author: RH-Electronics

Code made with Airis.

🤖 License: MIT