A robot that utilizes onboard IMU and single-point lidar to navigate the world

Example depth map:

Uses Khronos glTF SketchUp plugin

This is a breakdown of the most expensive stuff on the robot. Does not include the little 3.3V regulator, the 3D printer itself, filament, proto-board, wire, etc...

• $24.00 - 12 x 9g servos
• $20.00 - Teensy 4.0
• $14.00 - MPU-9250
• $14.00 - MPS mEZD41503A-A 5V @ 3A DC/DC converter
• $11.00 - ToF sensor
• $10.00 - NCR 18650B 3.4 Ah 4.9A Protected Button Top Battery
• $3.25 - ESP-01

Upgrades (extra cost)

• $40.00 - TFMini-s Lidar
• $120 - 12 x MG90D metal gear servos

If you upgrade to the MG90D servos, you will need to add a separate power supply eg. MT3608 to power the Teensy so that the servos do not reset it while booting. Otherwise the legs will flail around on start up.

While I have provided everything you need to make this robot, it is not intended to be rebuilt. This project suffers from mathematical inaccuracy both in the physical design and sensor accuracy. It was a good learning tool but this project is still a toy/not reliable to work autonomously.

TL;DR you buy cheap stuff you get cheap performance.

This was developed using Teensyduino so all of the libraries need to be installed there in order for the code to compile.

• (I2C) IMU MPU9250 (Bolderflight set, check Readme in case more added)
  • MPU9250
  • Eigen
  • Units
• (I2C) ToF vl53l0x by Pololu

The TFmini-s is using raw serial

• Google SketchUp for the 3D modeling
• Cura for the slicer

• Ender 3 Pro for the 3D printer

The infill of prints are either 20% or 30%. I have sorted them in folders.

Pretty much anything brittle/small will be 30% or a major structural piece like the main chasis.

This project borrows from my first robot with regard to how code is written.