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# System prepended metadata

title: Self-made legged robot

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# Self-made legged robot
I have been fascinated by the research on legged-robot for years. Although I could hardly find and join any research groups working on legged-robot in my country, Taiwan, I keep following the latest progress of the field. Meanwhile, in 2018 spring, motivated by my curiosity about embedded system, I sat in a system programming course offered by Prof. Jim Huang. In that course, I first time heard some interesting technology, such as multi-task programming and real-time operating system. The desire to learn more about the technology drove me to come up with an aggressive idea: I should take on the challenge to make a legged robot on my own and then run FreeRTOS on the robot. In these context, I started making a low-cost legged robot to study locomotion control of legged-robot and real-time operatioing systems. The development notes of the self-made robot are listed at the bottom.

The self-made robot shown below is an imitation of Minitaur, a legged-robot produced by Ghost Robotics, because of its simplified leg mechanism and low cost. 
![self-made robot](https://i.imgur.com/NXZ1skf.jpg =550x310)
I made almost every parts of the robot, such as leg mechanisms, magnetic encoders, and motor controllers.
A self-made leg mechanism
![A leg mechanism](https://i.imgur.com/TnTFzw1.jpg =550x310)
A self-made magnetic encoder
![A magnetic encoder](https://i.imgur.com/L9n7IHd.jpg =550x310)
Eight self-made motor controllers
![Eight motor controllers](https://i.imgur.com/L6ZqotO.jpg =550x310)
I am now working on the locomotion control system of the robot.

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## Index of notes
### Completed
* [**Leg mechanism**](https://hackmd.io/@YehChiTing/rJWfgAVAr)
* [**Self-made motor controller: Design & Layout**](https://hackmd.io/@YehChiTing/ByHbr2PCH)
* [**Self-made motor controller: Firmware & Test**](https://hackmd.io/@YehChiTing/r1cRCuey8)
* [**Porting FreeRTOS + Command Line Interface to STM32F4**](https://hackmd.io/@YehChiTing/SkqdLKv1I)
* [**Multi-Task structure of locomotion control method**](https://hackmd.io/@YehChiTing/Sks6-FSxU)
### Processing
* **IMU implementation & Kalman Filter for velocity estimate**
* **State machine for motor management**