Update 8/9/2021
In this version 2.0, the Standard Quadruped is enhanced to become an Articulated 4-Wheel Platform (Hybrid version) with “walking” front legs and “fixed” rear legs + 4 wheel servos at the legs’ endpoint. The RPi4B controls all 12 servos of the A4WP-H robot via DXL-SDK and communicates to the PC and CM-550 via Remocon packets. The CM-550 has only control of the DMS-80 sensors and the buzzer.
The second robot, E-PTC has “split” DXL control: the Pan-Tilt platform is controlled directly by the RPi4B using DXL-SDK, while its wheels and DMS-80 sensors remain under the control of the CM-550.
For 3.5 minutes the whole system seemed to be working as it should, then the RPi4Bs started to lock up! (for reasons not yet investigated). But the PC and CM-550s remained working OK.
The YouTube link is here:
