MiDog - Quadruped Robot Dog Design (ROS controlled)
15.2 هزار بار بازدید -
11 سال پیش
-
Presentation of the MiDog Quadruped
Presentation of the MiDog Quadruped Robot Design.
The Robot uses 14 custom designed high-precision servo actuators and will be controlled by an onboard Core I5 computer running ROS.
Robot specification:
- length without tail: 92cm
- height: 66cm
- weight: ~15kg
- Intel Core i5 2500T quad-core processor
- 16GB DDR3 Ram
- mITX Motherboard
Actuator specification:
- cycloidal gear, low backlash
- BLDC motor
- maximum torque: 250Kg/cm
- maximum speed: 80rpm
- weight: 350g
- fully integrated electronics
- RS485 communication bus
- 14Bit magnetic encoder
Sensors (in development):
-720p Stereo Cameras + FPGA stereo image processing + USB3.0 interface
- Laserscanner
- IMU + Visual Odometry
- Force / current sensing in each joint
The video shows:
- The mechanical design of the robot
- The design of the custom low backlash actuators with cycloidal reducer and BLDC motor
- Gait pattern generation using inverse kinematics
- Visualization in RVIZ.
The Robot uses 14 custom designed high-precision servo actuators and will be controlled by an onboard Core I5 computer running ROS.
Robot specification:
- length without tail: 92cm
- height: 66cm
- weight: ~15kg
- Intel Core i5 2500T quad-core processor
- 16GB DDR3 Ram
- mITX Motherboard
Actuator specification:
- cycloidal gear, low backlash
- BLDC motor
- maximum torque: 250Kg/cm
- maximum speed: 80rpm
- weight: 350g
- fully integrated electronics
- RS485 communication bus
- 14Bit magnetic encoder
Sensors (in development):
-720p Stereo Cameras + FPGA stereo image processing + USB3.0 interface
- Laserscanner
- IMU + Visual Odometry
- Force / current sensing in each joint
The video shows:
- The mechanical design of the robot
- The design of the custom low backlash actuators with cycloidal reducer and BLDC motor
- Gait pattern generation using inverse kinematics
- Visualization in RVIZ.
11 سال پیش
در تاریخ 1392/05/20 منتشر شده
است.
15,214
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