Loki 200mm, Fido pet robot build, bring-up instructions

Here is Loki, a 200mm pet robot.
Loki’s dimensions is small enough to fit the widely used 210x250mm and 220x220mm
3D print volumes, so you don’t have to invest in a bigger 3D printer.

Loki comes with his bigger brother Fido, 250mm. Both robots are basically identical, except for the size.

Snoopy, a 300mm robot, is the oldest and the biggest brother in the family.

Once the software is finished, Loki will act as a pet – look cute, play ball, hide-and-seek and chase,
demand its owners’ attention and greet its owners happily at the door.
To get a feel of what Maker’s Pet robots will do, watch Loki’s big (300mm) brother
Snoopy (in a simulation)

• play ball and hide

under a table

• self-drive, map and navigate a living room, all automatically.

Utility functions will include patrolling the house.

You can download design files here:

• Loki 200mm on GitHub
• Fido 250mm on GitHub

Each design repository includes:

• Fusion 360 3D CAD design files
• 3MF, STL files for 3D printing
• Arduino firmware source code
• ROS2 robot description package, configuraiton files and a Gazebo simulation model
• KiCad electronics schematics, BoM; PCB layout is in the works
• Assembly documentation is in the works, including assembly and bringup videos

Step-by-step assembly instructions.

One-time robot and PC setup instructions.

Robot bring-up instructions video

Robot 3D printing instructions

Robot’s Arduino ESP32 breakout board setup instructions

CAD design animation (Fusion 360).

Loki’s head 3D printed

Loki’s head gets 3D printed using a silk red PLA on a Prusa MK3.5S.

Loki design notes

Loki is designed

• to be easily scalable to different sizes, including 250mm.
• to be modular – similar to Snoopy, but simplified
  • the side body will be segmented and modular, unlike Snoopy’s,

so you can add body sensors – including ultrasonic, optical proximity,
collision, touch, laser pointer, optical distance – without reprinting
the entire Loki’s body. I would also venture a guess that – for now –
Roomba-like bumper collision sensors may not be necessary for a pet
robot.

• the assembly becomes simplified because, unlike Snoopy, by default,

Loki doesn’t have a bumper (to sense collisions), yet you can add
a bumper and collision sensors later if you wish so.

• the CAD design becomes simpler (including for myself)
• to be sturdier than Snoopy. The side walls now support upper plates.