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dyna1-quadruped

Software y Hardware abierto del Dynabot-1

https://github.com/udesa-ai/dyna1-quadruped

Science Score: 52.0%

This score indicates how likely this project is to be science-related based on various indicators:

  • ✓
    CITATION.cff file
    Found CITATION.cff file
  • ✓
    codemeta.json file
    Found codemeta.json file
  • ✓
    .zenodo.json file
    Found .zenodo.json file
  • ○
    DOI references
  • ○
    Academic publication links
  • ○
    Academic email domains
  • ✓
    Institutional organization owner
    Organization udesa-ai has institutional domain (linar.udesa.edu.ar)
  • ○
    JOSS paper metadata
  • ○
    Scientific vocabulary similarity
    Low similarity (7.8%) to scientific vocabulary
Last synced: 6 months ago · JSON representation ·

Repository

Software y Hardware abierto del Dynabot-1

Basic Info
  • Host: GitHub
  • Owner: udesa-ai
  • License: mit
  • Language: C++
  • Default Branch: main
  • Size: 95.8 MB
Statistics
  • Stars: 0
  • Watchers: 0
  • Forks: 0
  • Open Issues: 0
  • Releases: 0
Created almost 2 years ago · Last pushed 7 months ago
Metadata Files
Readme License Citation

README.en.md

Linar Linar

Dyna1

Quadruped platform for evaluation of autonomous locomotion algorithms

Description

We present a new design of a 12-degree-of-freedom quadruped, focused on reducing manufacturing costs and complexity, and maximizing the use of regionally available components. To facilitate assembly, the legs are modular, and the motors are placed as close to the body as possible to reduce their inertia. Brushless motors are used along with Odrive controllers, allowing for simple control through their CAN interface. The body contains the shoulder motors and all the necessary electronics for its operation. Its structure consists of four bars and transversal acrylic plates. The ROS2 operating system is implemented to control the quadruped. All crucial processes for the robot's operation run on the onboard computer, with others on the external computer. It was experimentally demonstrated that the leg is capable of jumping up to 30 cm with a weight similar to a quarter of the body. A control period (12 ms) and measurement period (10 ms) are achieved with a standard deviation of 0.135 ms and 0.246 ms respectively, and the RMS current while walking is around 15 A in the most demanding motor, so it should not have overheating problems. A Pybullet simulator was created to efficiently evaluate autonomy algorithms.

Hardware

In the hardware folder, you can find:

  • 3D models of the quadruped design in the following formats:
    • Fusion 360 (.f3d)
    • Step (.stp)
  • Bill of Materials (BOM)

Software

TODO

Owner

  • Name: Laboratorio de Inteligencia Artificial y Robótica
  • Login: udesa-ai
  • Kind: organization
  • Email: linar@udesa.edu.ar
  • Location: Argentina

LINAR — Universidad de San Andrés

Citation (CITATION.cff) 

cff-version: 1.2.0
message: "If you use this software, please cite it as below."
authors:
- family-names: "Casiraghi"
  given-names: "Tadeo"
- family-names: "Torre"
  given-names: "Gabriel"
- family-names: "Bunge"
  given-names: "Roberto"
- family-names: "Mas"
  given-names: "Ignacio"
title: "dyna1-quadruped"
version: 1.0.0
date-released: 2024-03-27
url: "https://github.com/udesa-ai/dyna1-quadruped"

GitHub Events

Total
  • Delete event: 1
  • Push event: 41
  • Pull request event: 2
  • Create event: 2
Last Year
  • Delete event: 1
  • Push event: 41
  • Pull request event: 2
  • Create event: 2