Chromapi
Chromapi is a 4-legged robot I’m designing, building, and documenting from scratch, going from the electronic design to the software development, through 3D modeling and artificial intelligence. I think of it as a research platform to explore core robotics concepts, like locomotion, reinforcement learning, and human-robot interaction.
Everything shown here is meant to be open source: the idea is to share what I learn and build as Chromapi’s development progresses, so anyone can draw inspiration from it, experiment with it, or take it further. The only limit is your imagination (and maybe the hardware)!
Where to start?
| I want to… | Go to |
|---|---|
| Know what’s inside (MCU, servos, sensors, power) | Specifications |
| Source the parts to build one | Bill of Materials |
| Flash the firmware, send commands, understand the protocol | Documentation |
| Understand why Chromapi is built this way | Design notes |
The repositories behind the project
chromapi
Main source code of the quadruped robot: control, locomotion, and software tools.
chromapi_motherboard
Electronic design and firmware of Chromapi's motherboard.
Roadmap
The roadmap shows the current progress of Chromapi’s design stages, as well as the future steps ahead.
⚡ Electronics
PCB design, electronic schematics, and component integration.
🟢 Done
💻 Firmware
Embedded firmware in C, communication with the Raspberry Pi, and actuator control.
🟢 Done
📐 3D modeling & CAD
3D models of the robot, part design, and manufacturing files.
🟠 V1 done, V2 in progress
🦿 Locomotion
Motion control, trajectory generation, and balance.
🟠 In progress
🧠 Reinforcement learning
Experimentation environment for training policies.
🔵 Planned
👁️ Vision
Environment perception via camera, computer vision, and deep learning.
🔵 Planned
🎙️ Audio processing
Audio signal perception and processing.
🔵 Planned
🤖 All-in-one
Building a model to interact with humans and their environment.
🔵 Planned
🏖️ Vacation
I wish...
🔴 Not planned
Join the community!
Questions, feedback, and contributions are always welcome! Feel free to open an issue on either repository, or come discuss it directly on the Chroma Discord.
