WAVEGO Pro

WAVEGO Pro 12-DOF Bionic Dog-Like Robot, Open Source For ESP32 And Raspberry Pi, Supports ESP-NOW Host-Sub Control Mode

High-DOF bionic quadruped robot

Powered by ESP32 sub controller & Raspberry Pi 4B / 5 host controller

The WAVEGO Pro is a high-DOF bionic dog-like robot which features 2.3kg.cm serial bus servos, reliable structure, and flexible motion, incorporating devices like 9-axis motion tracker, RGB indicator, etc., together with open source multi-platform Web application. It uses the ESP32 as sub controller for connecting rod inverse solving and gait generation, sharing the calculating task for the host controller. An additional Raspberry Pi 4B or Raspberry Pi 5 can be attached as the host controller for high-level decision-making.
The upgraded WAVEGO Pro also integrates an ultra-wide-angle camera, enabling visual functions such as color tracking, motion detection, and face detection. It also adds support for JSON protocol communication and ESP-NOW host-sub control mode, and allows saving JSON instructions for robot control as task files. By calling these task files, the robot's motion trajectory can be replayed with a single click, facilitating educational demonstrations and rapid prototyping.

Product features

• Overall 12-DOF, multi connecting rods leg design, increasing the servo effective torque
• Equipped with 2.3kg.cm serial bus servos capable of real-time feedback on position, speed, and input voltage
• A real time operating system is used as sub controller for connecting rod inverse solving and gait generation, sharing calculating task for the host controller and improving the gait solving efficiency
• Ultra compact structure design, allows using on the table, aluminum alloy + nylon structure materials, ensuring strength while keeping it light weight
• Additional Raspberry Pi can be attached as the host controller to enable OpenCV high-level functions, demo codes including facial recognition, motion detection, color tracking, and more. Reserved extension interface for secondary development, along with user manual and secondary development documents.

Raspberry Pi 5 controller

Featuring significantly improved CPU and GPU performance with an upgraded chip
Richer Multi-Media Capability, Faster Networking

High-DOF, more flexible motion

Overall 12-DOF, multi connecting rods leg design + inverse kinematics algorithm, significantly increasing the servo effective torque

Ultra compact structure design

5052 aluminum alloy and PA12 nylon structure materials, 40 sets of bearing joint all over the body, rugged and reliable structure, ensuring strength while keeping it light weight

Self-balancing posture

Embedded high precision 9-axis motion tracker ICM20948
Accommodating To Different Terrains and maintaining self-balance

5MP 160° wide angle camera*

allows using OpenCV-based functions like facial recognition, color tracking, motion detection, and more

Facial Recognition

Color Tracking

* the 5MP camera is only included in RPI WAVEGO Pro ACCE and PI5 WAVEGO Pro KIT

Remote control via Web

auto-generated WiFi Hotspot on startup, needs no compiling environment configuration, allows connecting to and login the control page via smartphone or PC browser, without installing an app

Supports motion recording and one-click playback

The robotic dog can save JSON instructions for robot control as task files. The task files can be saved in the Flash of ESP32, which will not be lost in case of power loss. The robotic dog can perform complex and repetitive operations by calling these task files.

Developing high-level functions

an Raspberry Pi 4B / 5 can be attached as host controller to communicate with the sub controller via UART, the ESP32 sub controller will share lots of calculating task like connecting rod inverse solving and gait generation, retaining more Raspberry Pi performance for developing high-level functions

Highly Integrated Base Board

Devices

1. ESP32-D0WDQ6-V3 controller
2. Reset button
3. CP2102 USB to UART converter
4. MP1658GTF-Z power chip
5. Battery wakeup button
6. Rechargeable Lithium battery manager
7. Battery power supply circuit switch
8. INA219 voltage/current monitor IC

9. Servo main power IC
10. Signal voltage level translator
11. ICM20948 9-axis sensor
12. W25Q32JVSSIQ flash chip
13. ESP-PSRAM64H memory chip
14. Battery reverse indicators
15. Active buzzer 9 * 5 3.3V

Connectors & Headers

16. IPEX antenna connector
17. 2*5 IDC connector
18. OLED PH2.0 header
19. SC09 bus servo interface

20. USB communicate port
21. Recharge / Power supply DC-023
22. 18650 rechargeable Lithium battery holder

SAFETY CAUTIONS

• Li-ion and Li-po batteries are quite unstable. They may cause fire, personal injury, or property damage, if they're not properly recharged or used.
• Do not reversely connect the polarities when recharging or discharging the battery. Do not use inferior charger/charging panel to recharge the battery.
• Do not mix use old batteries with new ones, avoid using batteries of different brands.
• When buying Lithium battery, should always make sure the battery specification is compatible with the expansion board. Choose batteries from formal manufacturer, and ensure the batteries will work stably and safely by aging test.
• Lithium batteries have limited cycle life, they will also deteriorate as time goes by. Should be replaced with new ones when the batteries reaching their max cycle life, or working over two years, whichever comes first.
• Should be placed carefully and properly, keep it away from inflammables and explosives articles, away from children, avoid any safety accident caused by careless storage.

Resource Introduction

1. RGB indicator (inside)
2. External antenna
3. 0.96inch OLED display
4. PA12 nylon side panel
5. Aluminum alloy body case
6. Large torque servo
7. Multi connecting rod leg
8. Leg joint
   using thrust bearing and flange bearing combination, reliable motion

9. Multi-function extension port
10. Switch
11. Recharge jack
12. Type-C: download/communication
13. Wide angle camera
14. Cooling fan
15. Raspberry Pi holder
16. Raspberry Pi extension ports

Dimensions

Resources & Services

WIKI: www.waveshare.com/wiki/WAVEGO_Pro