Developing a four-legged Quadruped robot 'DIPLOID' with stable walking by reinforced learning on bezier gait and terrain awareness using SLAM technique as a part of long-term project undertaken by Team Robocon. (2019-present)
DIPLOID is four-legged Quadruped robot inspired by the Boston Dynamics Spot and MIT Cheetah, being developed by Team Robocon BITS Pilani.
Started in early 2019 as a long-term project with an aim to achieve stable walking on rough terrain and environment perception using SLAM technique. Jump to:
Quadruped robots have several applications like last mile delivery, guiding robots for blind, security and surveillance, accessing hazardous enviornments, space exploration, etc.
The Quadruped robot community and research is growing everyday in different parts of the world. So far, there hasn't been a robust quadruped on an undergraduate level in India, and we on the journey of develpoing one.
This project is the source code for DIPLOID quadruped, a 4 legged robot. The software is implemented on a Raspberry Pi. As of now we have achieved-
Jan 2021 update:
The inverse kinematics has been demonstrated in the illustration below:
Source: Spotmicroai community
This is how various walking gaits look like in a simple 2D animation.
Light Blue : | Left legs |
Dark Blue : | Right Legs |
Various gaits implemented so far.
A simulation with trot walking gait
A trial simulation with pace gait
The design for legs is inspired from spot-micro robot CAD but has been modified to incorporate Dynamixel AX-12A servo actuators.
Hardware planned to be used:
We are aiming for stable walking on uneven terrains, blind stair climbing capability and developing an autonomous motion planning feature of the robot to execute a simple task around a sensed 3D environment while avoiding obstacles or possiblities of imbalance on its own.