Zuko is a quadruped robot dog inspired by other mini robot dogs. The frame is fully redesigned requiring only a 3D printer. The software is ported from ROS1 to ROS2. The robot has 12 RC servos controlled by a Teensy 4.0 over MicroROS connected to a RPI 4 running ROS2.
He is currently awkwardly walking in need of frame parameter updates.
Latest source code, CAD files, and general updates: https://github.com/reubenstr/Zuko