1 research outputs found
OpenRoACH: A Durable Open-Source Hexapedal Platform with Onboard Robot Operating System (ROS)
OpenRoACH is a 15-cm 200-gram self-contained hexapedal robot with an onboard
single-board computer. To our knowledge, it is the smallest legged robot with
the capability of running the Robot Operating System (ROS) onboard. The robot
is fully open sourced, uses accessible materials and off-the-shelf electronic
components, can be fabricated with benchtop fast-prototyping machines such as a
laser cutter and a 3D printer, and can be assembled by one person within two
hours. Its sensory capacity has been tested with gyroscopes, accelerometers,
Beacon sensors, color vision sensors, linescan sensors and cameras. It is
low-cost within \$150 including structure materials, motors, electronics, and a
battery. The capabilities of OpenRoACH are demonstrated with multi-surface
walking and running, 24-hour continuous walking burn-ins, carrying 200-gram
dynamic payloads and 800-gram static payloads, and ROS control of steering
based on camera feedback. Information and files related to mechanical design,
fabrication, assembly, electronics, and control algorithms are all publicly
available on https://wiki.eecs.berkeley.edu/biomimetics/Main/OpenRoACH.Comment: To appear in ICRA 201