NVIDIA Jetson Orin Nano
Autonomous Fpv Quadruped Companion Robot
概要
A medium-sized quadruped robot dog designed for indoor home entertainment and navigation, featuring custom brushless motors, advanced edge computing, FPV video streaming, and automated docking for extended runtime.
silei linシステムアーキテクチャ
MCU
SENSOR
ACTUATOR
MODULE
POWER
- SBC_HIGH_LEVEL → MCU_REALTIMEUARTHigh-level velocity commands and telemetry exchange between Jetson and Teensy
- SBC_HIGH_LEVEL → SENSOR_CAMERAUSBHigh-speed stereo depth and video stream data transmission
- SBC_HIGH_LEVEL → COMM_WIFIUSBWireless network connectivity for remote control and FPV streaming
- MCU_REALTIME → SENSOR_IMUSPIHigh-speed low-latency IMU data polling for balance control
- MCU_REALTIME → ACTUATOR_PWM_DRIVERI2CI2C bus commands to set joint servo PWM duties
- POWER → SBC_HIGH_LEVELPowerMain regulated 5V power supply for Jetson Orin Nano
- POWER → MCU_REALTIMEPowerRegulated 3.3V power supply for Teensy 4.1 and sensors
- POWER → ACTUATOR_PWM_DRIVERPowerHigh-voltage power rail for servos and actuators
部品表（BOM）
| 型番 | タイプ | 部品 | メーカー | パッケージ | 数量 | データシート | 一致 |
|---|---|---|---|---|---|---|---|
| 13766 | MCU | NVIDIA Jetson Orin Nano Runs Linux, ROS2, computer vision, FPV H.264 video encoding, SLAM navigation, and obstacle avoidance processing | Desco | — | 1 | 一致済み | |
検討された代替品14件を表示projects.detail.aiVerified | |||||||
| LM4040DIM3-4.1 | MCU | Teensy 4.1 NXP i.MX RT1062 ARM Cortex-M7 running at 600 MHz for deterministic real-time leg kinematics and gait generation at 1kHz | National Semiconductor | TO-236-3, SC-59, SOT-23-3 | 1 | 一致済み | |
検討された代替品13件を表示projects.detail.aiVerified | |||||||
| BMI088 | SENSOR | Bosch BMI088 Provides high-frequency 6-DOF inertial data via SPI for quadruped balance and state estimation | Bosch Sensortec GmbH | LGA-16 | 1 | 一致済み | |
検討された代替品11件を表示projects.detail.aiVerified | |||||||
| xArm5 Lite | SENSOR | Luxonis OAK-D-Lite Provides stereo depth, obstacle avoidance data, and optical streaming for FPV and AprilTag docking | MYBOTSHOP GmbH | — | 1 | 一致済み | |
検討された代替品18件を表示projects.detail.aiVerified | |||||||
| PCA9685PW,118 | ACTUATOR | NXP PCA9685 Expands PWM outputs via I2C for controlling 12-DOF joint servos or motor drivers | NXP Semiconductors | TSSOP-28 | 1 | 一致済み | |
検討された代替品10件を表示projects.detail.aiVerified | |||||||
| 6.37.03.01 WIFI MODULE FOR EMPOWER BOARD REDPINE | MODULE | Intel Wi-Fi 6 AX200 / USB WiFi Module Handles long-range telemetry, remote control commands, and FPV video streaming | SEGGER Microcontroller Systems LLC | — | 1 | 一致済み | |
検討された代替品4件を表示projects.detail.aiVerified | |||||||
| MP2315GJ-Z | POWER | Li-Ion Battery Pack with BMS & Buck Regulators Supplies main power from Li-Ion cells and steps down to 5V and 3.3V rails for computing, sensors, and actuators | Monolithic Power Systems, Inc. | TSOT-23-8 | 1 | 一致済み | |
検討された代替品11件を表示projects.detail.aiVerified | |||||||
組み立てガイド
12-16 hoursAdvanced
1
Procurement & Preparation
- Inventory and verify all BOM items including NVIDIA Jetson Orin Nano, Teensy 4.1, Bosch BMI088, Luxonis OAK-D-Lite, NXP PCA9685, Intel Wi-Fi 6 AX200, and Li-Ion Battery Pack with MP2315GJ-Z buck regulators.
- Prepare the custom distribution power board by soldering the MP2315GJ-Z buck regulator components to step down V_BAT to 5V and 3.3V rails for computing and sensor nodes.
2
Hardware Assembly & Wiring
- Mount the NVIDIA Jetson Orin Nano and Teensy 4.1 onto the chassis main deck, routing the UART interface connection (TX, RX, GND) between SBC_HIGH_LEVEL and MCU_REALTIME.
- Install the Bosch BMI088 sensor and wire its SPI bus (SCLK, MOSI, MISO, CS, GND, 3.3V) directly to the Teensy 4.1 for high-frequency inertial data acquisition.
- Connect the NXP PCA9685 PWM driver to the MCU_REALTIME via I2C (SDA, SCL, VCC, GND), and connect the power rails supplying V_BAT to the driver board.
- Plug the Luxonis OAK-D-Lite camera into the NVIDIA Jetson Orin Nano via USB (USB_SS_TX, USB_SS_RX, VBUS, GND) and mount the Intel Wi-Fi 6 AX200 module to the available USB interface.
- Wire the main power distribution to supply 5V to the NVIDIA Jetson Orin Nano, 3.3V to the Teensy 4.1, and V_BAT to the PCA9685 actuator driver.
3
Firmware Setup
- Flash the Teensy 4.1 with the real-time C++ firmware implementing 1kHz kinematics, gait generation, SPI polling of the Bosch BMI088, and I2C commands to the PCA9685.
- Configure the NVIDIA Jetson Orin Nano with Ubuntu Linux, ROS2, librealsense drivers for the OAK-D-Lite, and set up the SLAM navigation and H.264 FPV video encoding stack.
4
Testing & Calibration
- Perform a bench test with the robot suspended in a calibration rig, verifying 1kHz joint servo actuation via the PCA9685 and reading IMU calibration offsets from the Bosch BMI088.
- Test FPV video streaming, stereo depth processing, and AprilTag optical docking routines using the OAK-D-Lite camera and Intel Wi-Fi 6 AX200 link.
ドキュメント
quadruped robot dog
A medium-sized quadruped robot dog designed for indoor home entertainment and navigation, featuring custom brushless motors, advanced edge computing, FPV video streaming, and automated docking for extended runtime.
Design Overview
| Item | Details |
|---|---|
| Product Type | quadruped robot dog |
| Key Functions | Four-legged walking locomotion, Obstacle avoidance navigation, Remote control with FPV video streaming, Automated return-to-base docking and charging |
| Power Source | Li-Ion Battery |
| Connectivity | Long-range telemetry, FPV Video Streaming, WiFi |
| Size | Medium companion size (2-5 kg) |
| Environment | indoor |
| Difficulty | Advanced |
| Est. Time | 12-16 hours |
System Architecture
Power Topology: A 4S Li-Ion battery pack (approx. 14.8V) provides raw power for heavy actuators and passes through high-efficiency DC-DC buck regulators to generate a stable 5V rail (for Jetson Orin Nano, OAK-D camera, and USB Wi-Fi) and a 3.3V rail (for the Teensy MCU and SPI IMU sensor).
Module List
| Module ID | Type | Name | Function | Voltage |
|---|---|---|---|---|
| SBC_HIGH_LEVEL | MCU | NVIDIA Jetson Orin Nano | Runs Linux, ROS2, computer vision, FPV H.264 video encoding, SLAM navigation, and obstacle avoidance processing | 5V |
| MCU_REALTIME | MCU | Teensy 4.1 | NXP i.MX RT1062 ARM Cortex-M7 running at 600 MHz for deterministic real-time leg kinematics and gait generation at 1kHz | 3.3V |
| SENSOR_IMU | SENSOR | Bosch BMI088 | Provides high-frequency 6-DOF inertial data via SPI for quadruped balance and state estimation | 3.3V |
| SENSOR_CAMERA | SENSOR | Luxonis OAK-D-Lite | Provides stereo depth, obstacle avoidance data, and optical streaming for FPV and AprilTag docking | 5V |
| ACTUATOR_PWM_DRIVER | ACTUATOR | NXP PCA9685 | Expands PWM outputs via I2C for controlling 12-DOF joint servos or motor drivers | 3.3V |
| COMM_WIFI | MODULE | Intel Wi-Fi 6 AX200 / USB WiFi Module | Handles long-range telemetry, remote control commands, and FPV video streaming | 5V |
| POWER | POWER | Li-Ion Battery Pack with BMS & Buck Regulators | Supplies main power from Li-Ion cells and steps down to 5V and 3.3V rails for computing, sensors, and actuators | 14.8V |
Key Components
7/7 modules matched to real parts. See the BOM tab for the full component table.
NVIDIA Jetson Orin Nano (13766)
None of the candidates correspond to the NVIDIA Jetson Orin Nano module (part number 945-13766-0005-000). The provided c
Teensy 4.1 (LM4040DIM3-4.1)
None of the candidates represent the Teensy 4.1 microcontroller development board. The search results mainly show voltag
Li-Ion Battery Pack with BMS & Buck Regulators (MP2315GJ-Z)
MP2315GJ-Z is an exact match for the searched MP2315GJ-Z buck regulator component used in the power supply module.
Build Summary
- Difficulty: Advanced
- Estimated time: 12-16 hours
- Tools required: Anti-static mat, Digital multimeter, Calipers, Soldering station, Solder wire, Flux pen
See the Build tab for the full step-by-step assembly guide.
Generated by YuanQi AI Design System · Query: I want to design a robot dog that can walk on four legs, avoid obstacles, respond to remote control, and run for one hour on battery.