Charlotte: Low-cost open-source semi-autonomous quadruped robot

Facundo Garcia-Cardenas, Nelson Soberon, Oscar E. Ramos, Ruth Canahuire

Producción científica: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

4 Citas (Scopus)

Resumen

The use of legged robots in non-uniform terrains is a deeply studied subject, as they are capable of performing activities such as exploration, monitoring, and collection in places where other solutions present serious disadvantages. However, most of these robots are too expensive and complex for young researchers and students to develop their algorithms and test them in a standardized model. In contrast, we propose an open-source low-cost quadruped robot that employs a ROS framework to give the learner the necessary tools to develop a basic autonomous robot, capable of mapping its surroundings while avoiding obstacles. This paper presents the details of the whole development process, which includes the motion of the robot, achieved using quadratic optimization and static stability of the center of gravity, a LiDAR-based SLAM system, and path planning using the A∗ algorithm. Simulation and testing show that the robot is capable of successfully achieving the tasks with responsive and natural movements.

Idioma originalInglés
Título de la publicación alojada2020 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2020
EditoresNuno Lau, Manuel F. Silva, Luis Paulo Reis, Jose Cascalho
EditorialInstitute of Electrical and Electronics Engineers Inc.
Páginas281-286
Número de páginas6
ISBN (versión digital)9781728170787
DOI
EstadoPublicada - abr. 2020
Evento2020 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2020 - Ponta Delgada, Portugal
Duración: 15 abr. 202016 abr. 2020

Serie de la publicación

Nombre2020 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2020

Conferencia

Conferencia2020 IEEE International Conference on Autonomous Robot Systems and Competitions, ICARSC 2020
País/TerritorioPortugal
CiudadPonta Delgada
Período15/04/2016/04/20

Huella

Profundice en los temas de investigación de 'Charlotte: Low-cost open-source semi-autonomous quadruped robot'. En conjunto forman una huella única.

Citar esto