Open dynamic robot initiative. Low level interface to control the Solo robots.

Open dynamic robot initiative while im very exited to work on my own software implementation, I would like to start with the reactive_planner Demo to confirm everything is functional. To be connected to a SPI Master device Models of the (Tri-)Finger Robots This package contains URDF and mesh files for the various Finger and TriFinger robots as well as some Python utils to work with the models. All the Share your videos with friends, family, and the world You signed in with another tab or window. Contribute to open-dynamic-robot-initiative/bolt development by creating an account on GitHub. import pybullet as p from bullet_utils. The research project started off as an attempt to build a low Hi, We are often asked how many builds this project motivated. Mechanical Tools and Consumables Electronic Components and Tools Details Electronics Quadruped Robot 12dof Lower Legs Dec 19, 2024 · Open-source hardware and software for torque-controlled robots - Open Dynamic Robot Initiative Low level interface to control the Solo robots. The default configuration is assuming the Antigravity 4004 300kv motors. We recommend to use the right angle Hirose connectors for the encoders and the SPI communication if the cards are mounted in a stack. This package implements a RobotDriver for the (Tri-)Finger robots based on our robot_interfaces package. In case you are using different motors, change the config_f28069m_drv8305 submodule to the appropriate branch. GUI) robot = env. each micro driver board controls 2 brushless motors there is a stack with 2 cards in the front and in the back of the robot Custom electronics board -> Micro Driver Board Documentation The recommended printing direction for all the parts below is the positive z direction of the stl files. 04 LTS with most of the packages required for programming and simulating the the manipulator platform has 9 torque-controlled degrees of freedom it consists of 3 identical finger modules attached to an aluminum frame structure the finger module is describes in detail here: Finger Module Page. Calibration tool - pin locations. Please also use the Bug Tracker there if you have a question or want to report a bug. acquire_sensors() Solo12. They have plans to leverage this design into an open-source biped with point feet. A description of the CAN protocol that is implemented by this library can be found in the documentation of the mw_dual_motor_torque_ctrl firmware. Jul 9, 2021 · Hi, PAL Robotics, in collaboration with the Open Dynamic Robot Initiative, now offers Solo12 robot. You switched accounts on another tab or window. For more information, on the TriFinger robot and the general architecture of the software, see also our paper on the open-source version of the TriFinger robot. You signed out in another tab or window. dg_bullet_solo module; solo. The actuator module consists of a brushless outrunner motor, a high resolution optical encoder, a dual stage timing belt transmission, 3d printed parts and off-the-shelf components. Stand-alone installation using pip Feb 17, 2021 · Hello everybody! My goals are: define once for all the time the “zero configuration” of Solo, and allow the motors to drive Solo to this zero config whenever the power is turned on. The actuator module consists of a brushless outrunner motor, a high resolution optical encoder, a dual stage timing belt transmission and mostly 3d printed parts and off-the-shelf components. Sep 3, 2021 · You signed in with another tab or window. h or user_j5. Consistent with what I have been trying to model over the last couple of Introduction. The initiative is to make this open-sourced advanced quadruped platform accessible to further promote robotics learning. Explore the hardware, software, papers and videos of this open source project by MPI, NYU and LAAS. There is an alternative container “solo_bolt_user” with a “normal” built, but you will likely run into timing-related issues if using it for controlling the robot. In fact, Dynamics is literally just the study of forces and their effect on motion, so I feel like it would be a stretch for them to try and own a term used in every undergraduate mechanics class [1]. This package contains a executable This repository contains GUIs that can be used inside Code Composer Studio (CCS) to do some basic tests with the motor control boards running the Dual Motor Torque Control firmware (e. add_robot(Solo12Robot) Run simulation on Max-Planck Institute cluster You signed in with another tab or window. There are two ways to build/install this package: Stand-alone installation using pip. To access the ATI sensor from the computer, the network connection to the ATI sensor must be configured. Jul 13, 2022 · Hi, We are often asked how many builds this project motivated. g. Luckily I opted to get my own 3D printer versus using 3D Systems on-demand service: as the Open Dynamic … Continue reading "3D Printing Bolt Parts From the Open Dynamic Robot Initiative" Installation . This assumes the computer is set up accordingly (see Real Time Setup). It presents the implementation of a state-of-the-art control pipeline, close to the one that was previously implemented on Mini Cheetah, which implements a model predictive controller based on the Quick Start Example¶. Mar 8, 2023 · Hello everyone, im about to finish the build for the Bolt bipedal Robot. ). Since I’m not yet close to having a walking robot, I wanted to have a feel for how the robot will look and behave. This repository open-dynamic-robot-initiative. An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. We’ve been able to acquire and modify most of the hardware and have started looking at how to simulate the robot and generate trajectories. Currently, both the Kit and the Assembled 12 DOF robot pack include : You can purchase the fully assembled robot or you can order a kit with all the components that are required and assemble the robot yourself. get_motor_board The robot_fingers package provides drivers, examples and basic scripts for using the (Tri)Finger robots with our robot_interfaces package. This video was submitted with our RAL paper "An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research". solo. Share your videos with friends, family, and the world Share your videos with friends, family, and the world Jun 28, 2020 · A couple of days ago an article showed up in my inbox about a great open-source initiative, https://open-dynamic-robot-initiative. Currently im very much into the hardware setup, and therefore haven’t spent to much time of understanding the full software workflow and dependency’s. In addition, it has a low complexity, using brushless motors like those used for many other projects, and with fairly common control systems. Reload to refresh your session. get_joint_velocities() Solo12. Open-source hardware and software for torque-controlled robots - Open Dynamic Robot Initiative Dec 30, 2024 · Learn about the ODRI, a collaboration to build open-source dynamic robot platforms at low cost using 3D printing and off-the-shelf components. While the two versions differ in details, the basic principle is the same. The scripts in the scripts directory use this API for several tasks like evaluating the CAN interface, displaying motor parameters or running simple velocity/position controllers. The packages in this container are built for real-time communication with the robot. For building the images containing the TriFinger software (trifinger_user and trifinger_robot) the following applications are required in addition: Further you will need a GitHub Micro Driver Stack with right angle Hirose connectors. Since SOLO 12 is an open dynamic robot initiative, the mission of PAL Robotics is to prepare it for you with all the conveniences based on the standard tangible features and performance provided by the initiative creators. The hardware designs of the ODRI robots are open and can be found here. Open Dynamic Robot Initiative Forum Topic Replies Views Activity; Open either user_j1. get_joint_positions() Solo12. Generic interface for a controlling a real-time-critical robot from a non-real-time process. All repositories here are open-sourced packages licensed under the BSD 3-Clause license. However, we have some leftover parts that we would prefer to use instead of buying all new electronics. Electronics. We ourselves are quite curious. (Weight to torque ratios are very important for dynamic robots). Pose estimation of coloured cuboids for the TriFinger robots. It contains time series structures, in which all the data (actions, observations, etc. This package provides a real-time API for communication with the motor control board and the OptoForce sensor via CAN. h, depending on what you set in the previous step and follow the instructions below (taken from the InstaSPIN Projects and Labs User’s Guide): Halfway through the user_*. Also, we Jan 18, 2022 · Hello everyone, I am currently working on integrating the Solo12 with Gazebo and ROS, specifically using CHAMP (GitHub - chvmp/champ: 𓃡 Quadruped Robot based on MIT Cheetah I), which is the most documented ROS quadruped project out there to my knowledge. Install the 2mm pins using a hammer. Open Dynamic Robot Initiative Forum Topic Replies Views Activity; May 30, 2021 · This paper aims at showing the dynamic performance and reliability of the low-cost, open-access quadruped robot Solo-12, which is developed within the framework of Open Dynamic Robot Initiative. This documentation describes the firmware for the Open Robot Actuator Motor Boards. io is the entry point for all the documentation of the repositories listed in the open-dynamic-robot-initiative Github organization. However, you may need additional libraries to use them in our own code, which are not yet present. h file, there is a definition of motor parameters. Open-source hardware and software for torque-controlled robots - Open Dynamic Robot Initiative You signed in with another tab or window. PAL Robotics - Solo12 Product Page Both options include the inertia measurement unit , the calibration tools and the three different center plate options . For more information see the documentation. This website is the entry point to the ressources of the Open Dynamic Robot Initiative. This particular robot is designed as a research platform for dynamic robot control algorithms, and as such it prioritizes low weight and extremely dynamic capability (jumping like seen) over more practical use cases, like just walking around. Drivers of the bolt robot. Check out our Youtube channel to see our robots moving! Open-source driver for brushless motors, following the open dynamic robot initiative. Interface using internet connexion to a ATI force torque sensor. the frame an the required components are described below Item aluminum profiles Open Dynamic Robot Initiative - Webpage Open Dynamic Robot Initiative - YouTube Channel Open Dynamic Robot Initiative - Forum Open Dynamic Robot Initiative - Paper Hardware Overview Software Overview Back to Electronics Overview Dec 14, 2023 · Hi all, I’m building a Solo-12 at home as a way of learning about locomotion, dynamical systems and control. We developed a light-weight, low cost, minimal complexity, torque-controlled actuator module for robotic research. Dec 10, 2024 · The Open Dynamic Robot Initiative (ODRI) has developed an open-source 3D printed robot that can be controlled remotely over Wi-Fi. This is used for object detection in the TriFinger robot platforms but could also be used in other settings with multiple cameras I want to build a robot to get some hands on robotics experience. This contains hardware and firmware for several open source motor control boards all based around TMS320F2838x MCU from Texas Instrument. 40A 32V DC load switching Inrush current limiting Monitor voltage, Current and Energy Under voltage, Over current shutdown with settable thresholds Telemetry, load switching via SPI ####J2 - SPI Communication port, power board is acting as a SPI Slave device. The new version uses the custom Master Board and Micro Driver Board instead of the Texas Instruments evaluation electronics. Sending actions to and getting observations from the robot is very easy. There is not much You signed in with another tab or window. This project originated in an effort to build a low cost and low complexity actuator module using brushless motors that can be used to build different types of torque controlled robots with mostly 3D printed and off-the-shelves components. Dec 27, 2020 · Hello, I am a lead member of the robotics club at the University of Maryland. If you assembled/bought an ODRI robot or just used part of the actuator design / electronic, we would love to hear about it! Here are some ideas of what would be interesting to know: Who are you? Do you work for a lab / company? What did you build? Did you buy an assembled robot, a robot kit, or Open Dynamic Robot Initiative is a project that seeks to bring together community effort to build a low-cost, modular quadruped robot called Solo. To do this, I proceed in this way. the legs of the Biped Robot are described here: Biped Leg 3dof v1 Documentation compared to the quadruped robots the upper and lower leg length was increased by 25% - from 160mm to 200mm since the biped has no leg rotation degree of freedom the yaw angle of the robot cannot be controlled Hardware and Firmware of the Solo Quadruped Master Board. See videos, publications and instructions for manipulator, quadruped and biped robots. Low level interface to control the Solo robots. env import BulletEnvWithGround from robot_properties_solo. At this point we have a computer running ubuntu 18. As part of a colon workspace. This objective arose because I don’t want to move manually the links to the zero config but I want to automate it. The interface is defined in the base class :cpp:class:`~robot_interfaces::RobotData The blmc package contains an API for the CAN interface of the motor control microcontrollers of the Open Dynamic Robot Initiative as well as the OptoForce sensor. There are two versions of the firmware, one for communication via CAN and one for SPI (use the latter when communicating through a master board). add_robot(Solo12Robot) Run simulation on Max-Planck Institute cluster Jan 31, 2022 · Hello, Question. 38. General Documentation. Solo12. In this case, you can create your own image which is based on our standard image but extends it with your additional dependencies. e. Contribute to open-dynamic-robot-initiative/solo development by creating an account on GitHub. Detect coloured cuboids (with a different colour on each side) using images from three cameras. I wanted to open a discussion about this, and to hear what others have done to integrate the robot with ROS or ROS2. robot_interfaces_bolt provides the necessary types and driver to operate a BoltHumanoid robot with robot_interfaces. The master board can be connected to a real time control computer via a direct Ethernet link, or via a special wifi interface. We also conduct large scale, collaborative experiments in a 3000sqft shared robotics experimental facility. Use a 1,9mm drill bit to adjust the hole diameters for the 2mm pins. To further support the community, PAL Note. You can find them on the ODRI website. The RobotData serves as a communication link between the back end and the front end (see :ref:`architecture`). This teststand allows us to evaluate the performance of a single 2dof leg with external sensors. https://arxiv. Open Dynamic Robot Initiative Forum Category Topics; General. There is a newer version of the Leg Test Stand available. io/solo. The Simulation Feb 3, 2021 · Hello! We are a team of students attempting to recreate the solo8 project. ) is stored. I have ordered most of the components to build a single leg of the Bolt, from the Open Dynamic Robot Initiative. Jul 9, 2020 · This forum is dedicated to host discussion about the Open Dynamic Robot Initiative. Is there any future-proofing that you can recommend, i. The teststand has a You signed in with another tab or window. In recent versions of CCS the "GUI Composer Designer" add-on, which Dec 9, 2021 · This is a quadruped walking robot developed by the Open Dynamic Robot Initiative. For each finger type there is a model for a single finger and one for the TriFinger which simply consists of three times the single finger. The pins should protrude 4mm from the surface. Welcome to the TriFinger Robot Simulation docs! The trifinger_simulation package contains a PyBullet simulation environment for the different TriFinger robots as well as helper functions for some tasks (for sampling goals, computing rewards, etc. solo12wrapper import Solo12Robot env = BulletEnvWithGround(p. Support for basic OpenCV types in pybind11. Open-source hardware and software for torque-controlled robots - Open Dynamic Robot Initiative robot_interfaces_solo provides the necessary types and driver to operate a master-board-based Solo8 or Solo12 robot with robot_interfaces. In recent versions of CCS the "GUI Composer Designer" add-on, which You signed in with another tab or window. The electronics supply chain issue is elongating the build process. If you assembled/bought an ODRI robot or just used part of the actuator design / electronic, we would love to hear about it… 13: 2152: May 7, 2024 Our laboratory consists of a 1000sqft fully sensorized space including a motion capture system. The source code is hosted on GitHub . We are using the master board and BLCM drivers. You signed in with another tab or window. Currently, the Solo12 Kit to assemble yourself and Ready-to-Go assembled versions are available with a single procurement procedure. I discovered the open dynamic robot initiative and thought it would be cool to try to simulate, program, and build the biped Introduction. org/abs/1910. To build the API documentation yourself, In this case, "Dynamic" is likely referring to the fact that the robot is dynamic, not the company Boston Dynamics. On Ubuntu, open the application "Network connections" Note: Please Note. the timing belt of the second stage of the biped hip modules was rotated by 145 degrees this makes the modules shorter and more suitable for the biped robot only the shell structure was modified - all the internal parts of the actuator modules are identical a comparison between the Quadruped Hip FE The API documentation of the current master branch is provided here: https://open-dynamic-robot-initiative. This module, and extensions, can be used to build legged robots or For building the base images only a recent version of Singularity or Apptainer and an internet connection is required. This board centralises all the sensor and actuator data and provides wired and wireless connection to a realtime computer. Jan 21, 2024 · After a long time in the making (starting back in June of 2020) my build of the Open Dynamic Robot Initiative’s BOLT has been completed. You cannot use any switch or hub, but only a direct cable between Dec 14, 2023 · Hi all, I’m building a Solo-12 at home as a way of learning about locomotion, dynamical systems and control. github. io/, with a well-developed quadruped called Solo 8. Real Time Setup; Apr 6, 2021 · An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research. For instructions on installation, usage, etc, see the packages's documentation . Installation. I’ve created a MuJoCo model with visuals (exported from Solidworks and optimized for performance): I’m planning to use the model to reproduce various control The image we provide already includes everything needed to run the robot and the simulation. robot_interfaces Driver for Bolt Robots This package provides the necessary types and driver to operate a BoltHumanoid robot with robot_interfaces . are you planning on releasing any new versions or upgrading boards outside of the power supply board that was discussed on another post? A development/release pipeline so to speak to aid in deciding when to move forward with the build? Thanks! Dec 20, 2020 · So just eight-days shy of six-months later I finally get around to writing another post. Introduction. Learn how to build and control torque-controlled robots with 3D printed and off-the-shelves components. Contribute to open-dynamic-robot-initiative/pybind11_opencv development by creating an account on GitHub. Below was a power and sensor test utilizing the BoltHumanoid driver package. I manipulate the links in the desired zero config (in my You signed in with another tab or window. py_solo12 module. to check if motors are connected correctly). . The section of the code starts with the name “USER MOTOR & ID SETTINGS” import pybullet as p from bullet_utils. The ATI FT sensor is connected to the control PC via ethernet. We are big fans of ODRI and what the labs have done to democratize this info on legged robots! We are interested in building a quadruped robot, and were interested in building a modification of solo12. From the state where the four legs are folded It is possible to stand upright smoothly. See the following example, using the TriFinger robot, that simply sends a constant position command. 91. Ethernet connection with the robot is happening at the lowest level possible (MAC level without TCP/IP). wpmdhn pwbozu wiwr oftald pnpo csaa jtcz uklvm rlap paz