Building NavBot-D1: From Parts, Jetson, and ROS 2 to Reinforcement-Learning Locomotion

Short summary

NavBot-D1 is an open quadruped robotics platform integrating mechanical design, 12 actuators, Jetson Orin Nano computing, ROS 2, CAN bus, and reinforcement-learning-based locomotion. The article provides a layered reproduction guide covering hardware bring-up, actuator calibration, standing tests, and RL gait testing. It emphasizes a step-by-step validation approach critical for dynamic legged systems where incorrect configuration causes immediate falls.

• •NavBot-D1 is an open 12-DOF quadruped platform with RL-based locomotion on Jetson Orin Nano
• •Reproduction is structured in four validation layers: hardware, actuator, standing, and locomotion
• •Specs include 97 N-m peak torque, 25 kg payload, 2-hour battery, GPS and LoRa communication

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