XGO2 Architecture Diagram
The core architecture of the XGO2 as below, Raspberry XGO-CM4 is an artificial intelligence module as host computer which do all AI task .The slave computer is developed by ESP32, which is responsible for the power management of the robot dog, the servo drive and the core gait algorithm, etc. The host communicates with the slave through the serial port.
The main structure of XGO-mini2 is composed of 1.5 mm thick aluminum alloy structural parts and serial bus servos. The legs are composed of ABS&Silicone. The XGO-CM4 module and driver board are connected by PH2.0 4pin cable, 2S 18650 lithium batteries inside , the structure is shown as below.XGO-mini2 3D model Download.
XGO-CM4 Carrier Board
XGO-CM4 is powered by a Raspberry Pi Compute Module 4 (CM4) which is a Quad-Core Cortex-A72 CPU running at 1.5GHz and a 2-inch IPS screen with a resolution of 320 x 240. It has sufficient amount of RAM (2GB) to perform multitasking and also has sufficient amount of Micro SD card storage (32GB) to install an operating system, enabling fast boot up times and smooth overall experience. It has wireless connectivity with dual-band 2.4GHz/5GHz Wi-Fi and Bluetooth 5.0 BLE.XGO-CM4 consists of a high-speed expansion interface with 4 programmable key .It has tow Speaker Port for media play .It also has one USB 2.0 Type-C port and Micro hdmi port .The 4-pin PH2.0 on the XGO-CM4 opens it for a wide range of other hardware with serial communication. XGO-CM4 carrier board schematic Download.
XGO-mini2 Driver Board
This is a bus servo control board based on ESP32 ，it control 15 bus servos of XGO and read the current angle, load, voltage, mode, and other information of each servo, and can use the serial port to communicate with master computer Raspberry Pi. XGO-mini2 driver board schematic Download.