Hexapods, Quadrupeds, and Robot Arms

[mithi]

Finished Projects

1. [x] Write python code for raspberry pi robots
2. [x] Write series of posts about hexapod robots
3. [x] Write motivation for building a hexapod simulator
4. [x] Build a hexapod simulator in Python
5. [x] Build a hexapod simulator for the web (React)

[mithi]

STL Files of a hexapod with 9g micro servos (mg90s)

https://github.com/PCrnjak/3D-printed-Hexapod https://github.com/nanicalabs/3D-printed-Hexapod https://www.instructables.com/id/3D-Printed-18DOF-Hexapod/

[mithi]

Quadruped (sprawling type) sample code made by yours truly

slow-quadruped.txt quadruped.txt quadruped-test.txt

[mithi]

Robot Arms Articles

Gradient Descent Inverse Kinematics for 6DOF robot arms https://www.marginallyclever.com/2020/04/gradient-descent-inverse-kinematics-for-6dof-robot-arms/

Alan Zucconi https://www.alanzucconi.com/2017/04/10/robotic-arms/

Robot Arm simulator for the web https://github.com/glumb/robot-gui https://github.com/glumb/kinematics

Six Axis Robot arm in unity https://meuse.co.jp/?p=885 https://meuse.co.jp/?p=2732

Robot kinematics and calibration for arms described by modified dh parameters https://github.com/nnadeau/pybotics

EvoArm https://github.com/nanicalabs/EvoArm

Robot arm joint rotations visualization https://www.youtube.com/watch?v=7coUcEHxnYA https://www.youtube.com/watch?v=_oL30hxtwPY

3D visualization of the Inverse Kinematic of an industrial robot with 6 degrees of freedom(Kuka) RoblabWHGe https://www.youtube.com/watch?v=3s2x4QsD3uM&t=3s

pseudo inverse jacobian CBlissMath - https://www.youtube.com/watch?v=pTUfUjIQjoE Look MA! Studio -https://www.youtube.com/watch?v=HRU1Tlv0GtQ

Jacobian Pseudoinverse Damped Least Square Jacobian Transpose with fixed step size Jacobian Transpose with varying step size CCD approaches. https://www.youtube.com/watch?v=XdMDuWD8jlk

[mithi]

Open source quadruped robots

Spot Mini Mini By Maurice Rahme

https://github.com/OpenQuadruped/spot_mini_mini https://moribots.github.io/project/spot-mini-mini

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

Standford Quadruped

https://github.com/stanfordroboticsclub/StanfordQuadruped

Open Quadruped

https://github.com/adham-elarabawy/open-quadruped IK_Model.pdf

James Brutton open dog

https://github.com/XRobots/openDog https://github.com/XRobots/miniDogV2

Spot Micro AI

https://spotmicroai.readthedocs.io/en/latest/ https://www.thingiverse.com/thing:3445283 https://gitlab.com/custom_robots/spotmicroai/simulation

Opencat and Bittle

https://github.com/PetoiCamp/OpenCat https://www.petoi.com/

[mithi]

Gait and Trajectory Optimization for Legged Systems through Phase-based End-Effector Parameterization

Alexander W. Winkler1 , C. Dario Bellicoso2 , Marco Hutter2 , Jonas Buchli1

https://storage.googleapis.com/concise-hue-230505.appspot.com/pdfs/18-ral-winkler.pdf

Optimization-based motion planningfor legged robots https://www.alex-winkler.com/#sec-landing

https://www.alex-winkler.com/phd-thesis.html#pf15

A light-weight, Eigen-based C++ library for trajectory optimization for legged robots. https://github.com/ethz-adrl/towr

[mithi]

Cornell Ranger, 2011-2012 4-legged bipedal robot http://ruina.tam.cornell.edu/research/topics/locomotion_and_robotics/ranger/Ranger2011/

resources Resources on various topics being worked on at IvLabs https://ivlabs.github.io/resources/control-theory/ https://ivlabs.github.io/resources/

Publications of Jean-Claude Latombe http://ai.stanford.edu/~latombe/pub.htm

RI 16-735 Robotic Motion Planning Lectures Howie Choset http://www.cs.cmu.edu/~./motionplanning/lecture/lecture.html

gym open ai https://gym.openai.com/envs/#classic_control

research paper notes https://github.com/IvLabs/ResearchPaperNotes

gym under actuated https://github.com/jmichaux/gym-underactuated/commits/master/examples

[mithi]

An Introduction to Trajectory Optimization: How to Do Your Own Direct Collocation∗ http://www.matthewpeterkelly.com/tutorials/index.html http://www.matthewpeterkelly.com/index.html https://epubs.siam.org/doi/pdf/10.1137/16M1062569

[mithi]

Implementing trajectory optimization on bipedal system https://github.com/IvLabs/biped_trajectory_optimization

[mithi]

Dynamic Modeling and Control of a Quadrotor Using Linear and Nonlinear approaches Heba talla Mohamed Nabil ElKholy Spring 2014 The american university in Cairo Prof Maki Habib The degree of Master of Science in Robotics, Control, and Smart Systems

Quadrotor control: modeling, nonlinear control design and simulation Francesco Sabatino KTH Electrical Engineering Master's Degree Project Stockholm, Sweedon June 2015

Avrupa Bilim ve Teknoloji Dergisi Arastirma Makalesi Oguz Kose, Tugrul Oktai Dynamic Modeling and simulation of quadrotor for different flight conditions 2019

[mithi]

Underactued robotics

• http://www.kostasalexis.com/simulations-with-simpy.html
• http://www.matthewpeterkelly.com/tutorials/cartPole/cartPoleEqns.pdf
• https://www3.math.tu-berlin.de/Vorlesungen/SoSe12/Kontrolltheorie/matlab/inverted_pendulum.pdf
• https://demonstrations.wolfram.com/BalancingADoubleInvertedPendulumIn2DOr3D/
• https://demonstrations.wolfram.com/DoublePendulum/
• https://demonstrations.wolfram.com/ThePendulumFromSimpleHarmonicMotionToChaos/