Oncilla Robot: A Versatile Open-Source Quadruped Research Robot With Compliant Pantograph Legs

Abstract

We present Oncilla robot, a novel mobile, quadruped legged locomotion machine. This large-cat sized, 5.1 kg robot is one of a kind of a recent, bioinspired legged robot class designed with the capability of model-free locomotion control. Animal legged locomotion in rough terrain is clearly shaped by sensor feedback systems. Results with Oncilla robot show that agile and versatile locomotion is possible without sensory signals to some extend, and tracking becomes robust when feedback control is added (Ajallooeian, 2015b). By incorporating mechanical and control blueprints inspired from animals, and by observing the resulting robot locomotion characteristics, we aim to understand the contribution of individual components. Legged robots have a wide mechanical and control design parameter space, and a unique potential as research tools to investigate principles of biomechanics and legged locomotion control. But the hardware and controller design can be a steep initial hurdle for academic research. To facilitate the easy start and development of legged robots, Oncilla-robot's blueprints are available through open-source. The robot's locomotion capabilities are shown in several scenarios. Specifically, its spring-loaded pantographic leg design compensates for overdetermined body and leg postures, i.e. during turning maneuvers, locomotion outdoors, or while going up and down slopes. The robot's active degree of freedom allow tight and swift direction changes, and turns on the spot. Presented hardware experiments are conducted in an open-loop manner, with little control and computational 1 arXiv:1803.06259v2 [cs.RO] 16 Jun 2018 Spröwitz et al. Oncilla robot effort. For more versatile locomotion control, Oncilla-robot can sense leg joint rotations, and legtrunk forces. Additional sensors can be included for feedback control with an open communication protocol interface. The robot's customized actuators are designed for robust actuation, and efficient locomotion. It trots with a cost of transport of 3.2 J/(Nm), at a speed of 0.63 m s −1 (Froude number 0.25). The robot trots inclined slopes up to 10 • , at 0.25 m s −1 . The multi-body Webots model of Oncilla robot, and Oncilla robot's extensive software architecture enables users to design and test scenarios in simulation. Controllers can directly be transferred to the real robot. Oncilla robot's blueprints are open-source published (hardware GLP v3, software LGPL v3).

An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research

“…High power BLDC motors now offer the mechanically simpler solution to 'direct-drive' robot legs, without gearing [18]. With loads experienced by quadruped robots, calculations by [5], [26], [31] show that energy consumption can be reduced, and actuators used more efficiently with a low-geared actuator.…”

“…The Oncilla robot [31] and Stanford-doggo [17] are notable open-source robot platforms. Robots like Oncilla or Cheetah-cub [32] feature mechanical compliance in parallel to the leg actuation and react intrinsically and immediately to external perturbations [32].…”

“…Hardware, firmware, and middle-ware must become inexpensive and easy to reproduce and implement. Open-source blueprints of lowcost legged robot platforms like [17], [31], and ours, will Open-source legged robotics can only become effective if little machining of parts is required to reproduce the blueprints, which is the endeavour of the presented work. This requirement excludes sophisticated actuator solutions with excessive, high-tolerance machining and it would be desirable to assemble the actuator modules from off-the-shelf parts only.…”

Design, Development and Experimental Realization of A Quadrupedal Research Platform: Stoch

“…There are also quadrupeds that are less resource intensive such as Tekken [12], Cheetah-cub [3], Onchila [4], Mini- cheetah [13], Aibo [14], Rhex [15], some of which are open sourced, but not easy to reproduce.…”

Learning Active Spine Behaviors for Dynamic and Efficient Locomotion in Quadruped Robots

“…To address the above issues and to develop an accurate model of the robot and environment, researchers began to use high fidelity physics engine based simulators [11], [12], [13] to simulate the robot and environment model. Works such as [4], [14], [6], [15], [16] have pursued this approach to bridge the gap between theory and experiment. Despite these tools, the results obtained with these simulators still required a noticeable amount of manual tuning and intervention to deploy on hardware.…”