HyperDog: ROS2とmicro-ROSを用いたオープンソース四足歩行ロボットプラットフォーム
HyperDog: An Open-Source Quadruped Robot Platform Based on ROS2 and micro-ROS
3Dプリント部品とカーボンファイバーで作られた低コストな四足歩行ロボットHyperDogを開発し、ROS2とmicro-ROSに基づくオープンソースの制御ソフトウェアを公開した。
著者: Nipun Dhananjaya Weerakkodi Mudalige, Iana Zhura, Ildar Babataev, Elena Nazarova, Aleksey Fedoseev, Dzmitry Tsetserukou
分類: cs.RO
原文アブストラクト
Nowadays, design and development of legged quadruped robots is a quite active area of scientific research. In fact, the legged robots have become popular due to their capabilities to adapt to harsh terrains and diverse environmental conditions in comparison to other mobile robots. With the higher demand for legged robot experiments, more researches and engineers need an affordable and quick way of locomotion algorithm development. In this paper, we present a new open source quadruped robot HyperDog platform, which features 12 RC servo motors, onboard NVIDIA Jetson nano computer and STM32F4 Discovery board. HyperDog is an open-source platform for quadruped robotic software development, which is based on Robot Operating System 2 (ROS2) and micro-ROS. Moreover, the HyperDog is a quadrupedal robotic dog entirely built from 3D printed parts and carbon fiber, which allows the robot to have light weight and good strength. The idea of this work is to demonstrate an affordable and customizable way of robot development and provide researches and engineers with the legged robot platform, where different algorithms can be tested and validated in simulation and real environment. The developed project with code is available on GitHub (https://github.com/NDHANA94/hyperdog_ros2).
