This project forked from selina64/little-doggy-run
开源四足机器人，包含代码和模型，欢迎交流讨论
本项目是北京理工大学世纪杯参赛作品，现将其开源，欢迎交流。
IDE：MDK5
代码生成器：STM32CUBEMX 4.26.1
代码生成器固件版本：FW_F4 V1.21.0
建模软件：SOLIDWORKS 2019
主控单片机：STM32F407VE
IMU：MPU6050
稳压模块：LM2596HVS，共五块，每条腿一块，控制部分一块
电池：2s航模电池
舵机：KingMax CLS2025
代码主要分为控制、遥控、通讯部分，使用者可以着重阅读控制部分，即Little-Doggy-Run\Src\control_task.c
机架设计采用了玻纤板拼接式结构，经验证该结构稳定，但是过重，使用碳纤材料可以解决问题。
腿部设计采用了五连杆机械结构，是一个两自由度的腿部。
舵机与大腿的连接采用了柔软的热熔胶连接，原因部分是为设计方便，另一部分为了是尽量吸收大幅度的震动，使得机体运行更稳定。
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