OpenRoACH: A Durable Open-Source Hexapedal Platform with Onboard Robot Operating System (ROS)

Wang, Li-Yu; Yang, Yuxiang; Correa, Gustavo J.; Karydis, Konstantinos; Fearing, Ronald S.

doi:10.1109/icra.2019.8794042

Cited by 6 publications

(3 citation statements)

References 11 publications

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“…A variety of open-source multilegged robot projects exist, each focusing on different challenges and applications. Projects such as OpenRoACH [6], Open Dynamic Robot Initiative [7] and Oncilla [8] have focused on developing a complete robot platform with mechanical and electrical hardware designs, and control software that is tightly coupled to the hardware specifications. OpenSHC on the other hand, is developed to be applicable to many different legged robots including those in simulation.…”

Section: Design Philosophymentioning

confidence: 99%

OpenSHC: A Versatile Multilegged Robot Controller

et al. 2020

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Multilegged robots have the ability to perform stable locomotion on relatively rough terrain. However, the complexity of legged robots over wheeled or tracked robots make them difficult to control. This paper presents OpenSHC (Open-source Syropod High-level Controller), a versatile high-level controller capable of generating gaits and poses for quasi-static multilegged robots, both simulated and with real hardware implementations. With full Robot Operating System (ROS) integration, the controller can be quickly deployed on robots with different actuators and sensor payloads. The flexibility of OpenSHC is demonstrated on the 30 degrees of freedom hexapod Bullet, analysing the energetic performance of various leg configurations, kinematic arrangements and gaits over different locomotion speeds. With OpenSHC being easily configured to different physical and locomotion specifications, a hardware-based parameter space search for optimal locomotion parameters is conducted. The experimental evaluation shows that the mammalian configuration offers lower power consumption across a range of step frequencies; with the insectoid configuration providing performance advantages at higher body velocities and increased stability at low step frequencies. OpenSHC is open-source and able to be configured for various number of joints and legs.

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Section: Design Philosophymentioning

confidence: 99%

OpenSHC: A Versatile Multilegged Robot Controller

et al. 2020

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“…Based on this technology, a library of mobile [22,32,33] and surgical robots [34,35] with articulated microstructures were made possible in ever smaller scales (µm-mm). Such an enabling fabrication technique was also adapted to rapidly prototype macroscale (cm and larger) robot systems with onboard controls [36,37].…”

Section: Introductionmentioning

confidence: 99%

Reconfigurable laminates enable multifunctional robotic building blocks

Jiang¹,

Gravish²

2021

Smart Mater. Struct.

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Folding and assembling of two-dimensional laminated materials have greatly facilitated robot fabrication by creating robots with lightweight body frames, articulated joints, and embedded actuators and sensors. The combinations of rigid laminates bridged by thin-film flexures, often called rigid-flex linkages, have been extensively used in micro- and macro-scale robots to achieve complex joint motions with simplified kinematic and dynamic properties. Much like traditional robots these rigid-flex laminate robots are designed with a fixed body-plan, and thus may face challenges when environments require mechanical reconfiguration such as stiffening joints for load support or changing appendage morphologies for navigating confined spaces. Recent advances in adaptive materials and smart actuators have highlighted the features that robots with morphable geometries and tunable mechanical properties can provide, such as self-folding joints and variable stiffness and damping mechanisms. However, incorporation of these reconfigurable elements into laminate robots has been limited. In this paper, we present a new method for creating quasi two-dimensional structures for robotics, called reconfigurable laminates, that use geometric reconfiguration of laminate layers to alter passive mechanical properties and actuate joints. Unlike traditional rigid-flex linkages with single-layered flexures, here we create laminate joints with dual-layered soft hinges and rigid channels allowing a multitude of reconfiguration opportunities including: sliding-layer laminates for passive stiffness control, snapping-hinge locks for reconfigurable joints, and buckle-bend joints for bending actuation. Through experimental characterization we demonstrate the capabilities of these multifunctional robotic building blocks.

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“…There exist training models of walking robots and crawling snake robots (Wang et al, 2019), for which the problems that are connected with the investigation of their motion were analysed in detail. In addition, small-sized inexpensive packages were developed for do-ityourself assembling robots on the basis of the UTR.…”

Section: Introductionmentioning

confidence: 99%

Small-Sized Uniaxial Two-Wheel Robot for Educational Laboratory

Lelkov¹,

Kuris²,

Stolyarov³

et al. 2019

PTQ

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This article is dedicated to the development of the uniaxial two-wheel robot (UTR) constructed as the upper pendulum. This robot is intended to be used as a simple and inexpensive model for robotic engineering laboratory classes. Such robot can be used for educational purposes in higher education institutions, as well as in robotic engineering courses in schools and supplementary education institutions. Experimental UTR unit and its general specifications have been developed. The article describes the synthesis of UTR’s simplified mathematical model, control system and hardware composition. It is proven that the simplified equations are correct. In addition, it presents the algorithms of driving engines torque formation based on measurements of sensors with various physical nature and different filtration methods. Possible data merging variants’ diagram is presented. In the process of the half-full scale modelling, the researching of robot movements was conducted simultaneously with the recording of primary information from all measuring systems. As a defined motion, the stabilisation concerning the horizon from the position when the rotation angle of a platform was 40 degrees has been chosen. It has been determining that the robot's engines can enhance torque ranging from 0.05 to 0.22 Nm. The combination of the described mathematical model, control algorithms and specific features of certain structural components ensure the efficiency of UTR application in the educational process. Several UTR control system variants are described, and the simulation results are presented. The article also includes the results of hardware simulation.

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OpenRoACH: A Durable Open-Source Hexapedal Platform with Onboard Robot Operating System (ROS)

Cited by 6 publications

References 11 publications

OpenSHC: A Versatile Multilegged Robot Controller

OpenSHC: A Versatile Multilegged Robot Controller

Reconfigurable laminates enable multifunctional robotic building blocks

Small-Sized Uniaxial Two-Wheel Robot for Educational Laboratory

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