Session: 07-11-01 Mobile Robots and Unmanned Ground Vehicles I

Paper Number: 69167

Start Time: Tuesday, 01:40 PM

69167 - Multi-Purpose Open Source Quadruped Platform for Robotic Research and Training 

We investigated various open source quadruped robot designs and modified the selected one to build a mobile platform not only for research purposes but also for teaching and learning goals. Other than multiple mechanical modifications, we added a full-scale single board computer for advanced motion planning as well as machine vision purposes. Also, we utilized an easy to learn visual block-based programming environment for that same platform which can be used to train even freshmen rapidly.

There are several different open-source quadruped robot designs available online and choosing the right one for a project is important and based off the needs and criteria. For our project the selection criteria consider mechanical complications, ease of manufacturing, programming environment, maintenance, cost, and ease of modification. We developed and followed a benchmarking method to compare five different designs. The design we moved forward with was an open-source quadruped design controlled by a low cost off-the-shelf single board computer.

The next step in the project was to pick the visual programming environment to use for the quadruped and how to use it effectively. In addition to the design of the quadruped being open sourced, the code to run it was also available as a download from multiple different users and either ran with the control board being either Arduino, Raspberry Pi, or a ESP32-DevKitC. To benefit from both the advanced code and complexity of the RPi as well as the simplicity and ease of programming with the Arduino, the base plate of the quadruped was modified to include both MCUs. The base plate was also modified to include room for a PCA9685 for simplifying the servo motor connections, battery connection holes for the MCUs, a PCB, and a step-down buck converter.

Visual programming environments were then investigated to identify easy to learn tool with all possible programming functions available to program the movements of the servo motors in the leg. To begin the process, the locomotion of the legs from the source code is transferred to the visual programming environment compatible with a single board controller, the Arduino. The movements and subroutines written in textual code are then translated into easy to understand visual blocks containing information about the motors and can easily and understandably manipulated. The code then written from the visual programming can then be transferred back into the servo motors in the legs and generate locomotion. The Scratch like visual programming language chosen is Ardublock, an add-on to the main Arduino IDE programming program, for simplicity since it focuses on connections to the Arduino. Additionally, the software also generated textual code for the addition of each visual block the programmer which studies have found to be beneficial in a learning environment. As a whole, this project combines the creation of a smarter, optimized, cost-effective, miniature quadruped robot with visual programming executions of a robotics which can be used not only for research but also for educational purposes in learning robotics, specifically quadruped like legged mobile platforms.

Presenting Author: Akin Tatoglu University of Hartford

Authors:

Stephen Vollaro University of Hartford
Mason Wein University of Hartford
Akin Tatoglu University of Hartford
Kiwon Sohn University of Hartford