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This repository contains the design assets (CAD, PCBA designs, assembly instructions...) and core software (firmware and low level code) of the Barkour robots.
We release 2 versions of the Barkour Robot. One version has a fixed head, the other has an actuated head with a mouth (gripper). You can find the CAD models here for both versions.
We are including the schematics and PCB layout files for the custom electronics on the Barkour robots. Take a look in the hardware/electronics folder.
The Barkour motor drivers use custom firmware based on the Pigweed open-source project. You can find the firmware in the actuator/firmware folder and our firmware guide here. We also provide a hostside example to control the actuators via EtherCAT and a guide to configure EtherCAT.
This release contains the "vB" version of the Barkour Robot. As part of our earlier work, we used an older version of the hardware, called "v0". You can find the assets for the v0 version at the following links:
