group
What campus are you from?
Daytona Beach
Authors' Class Standing
Elijah Iwanoff, Junior Killian Embler, Sophomore Salvatore Pizzurro, Sophomore Manuel Buenrostro Macedo, Sophomore
Lead Presenter's Name
Elijah Iwanoff
Faculty Mentor Name
Dr. Sergey Drakunov
Abstract
This undergraduate research project advances a low-cost, open-source manipulation system for a university-scale quadruped, extending the Embry-Riddle OpenMutt platform with a compact 3-R arm and modular end-effectors. Motivated by the high purchase price and limited extensibility of commercial quadrupeds, we target a reproducible, student-serviceable alternative that supports loco-manipulation research and hands-on learning in controls, kinematics, and mechatronics. Open quadruped efforts such as Stanford Doggo demonstrate that transparent, replicable designs can deliver serious research capability at student budgets [1]. Our arm leverages lightweight cycloidal gearing to achieve high torque density in a printable form factor suitable for rapid iteration and repair, aligning with undergraduate lab constraints [2]. Actuation uses MAD-class BLDC motors with ODrive S1 drivers to provide field-oriented control, high-rate encoder feedback, and flexible I/O in a compact package that integrates cleanly with our electronics stack [3]. The control architecture combines joint-level PID on the drives with a model-based, task-space controller derived from modified Denavit–Hartenberg kinematics. To improve numerical robustness for six-DoF end-effector tracking and simplify interpolation of coupled rotation/translation, we represent pose with dual quaternions and implement full-state feedback in ROS 2 [5]. Communication, logging, and tool management run on ROS 2 with tuned QoS settings; prior studies show that ROS 2, paired with a PREEMPT_RT Linux kernel and appropriate middleware, can achieve reliable real-time performance for distributed robotic control, informing our scheduling and benchmarking plan [4]. At the time of writing, the arm’s mechanical assemblies are built and mounted; current work focuses on firmware bring-up, driver integration, and controller tuning, followed by bench calibration and on-robot validation. Evaluation will quantify reachable workspace, positioning/orientation accuracy, torque transparency, and task success across representative campus scenarios (door interaction, inspection, fixture manipulation), while documenting a reproducible. By releasing all CAD, electronics, and software openly, this project lowers the barrier for undergraduate research in gait planning, perception-in-the-loop manipulation, and whole-body loco-manipulation on legged platforms. References [1] N. Kau, A. Schultz, N. Ferrante, and P. Slade, “Stanford Doggo: An open-source, quasi-direct-drive quadruped,” in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 2019, pp. 6309–6315. doi:10.1109/ICRA.2019.8794436. [2] W. Roozing, “3D-printable low-reduction cycloidal gearing for robotics,” Univ. of Twente, Enschede, The Netherlands, Tech. Rep., 2022. [Online]. Available: PDF via Univ. of Twente research portal. [3] ODrive Robotics, “ODrive S1 Datasheet,” Online documentation, accessed Oct. 27, 2025. (ODrive Robotics Docs) See also: ODrive S1 product page (specs and interfaces). [4] Y. Ye, Z. Nie, X. Liu, F. Xie, et al., “ROS 2 real-time performance optimization and evaluation,” Chinese Journal of Mechanical Engineering, vol. 36, no. 1, 2023, Art. no. 144. doi:10.1186/s10033-023-00976-5. [5] B. Kenwright, “A beginner’s guide to dual-quaternions: What they are, how they work, and how to use them for 3D character hierarchies,” tutorial paper, 2012. [Online]. Available: PDF (GMU host).
Did this research project receive funding support from the Office of Undergraduate Research.
No
OpenArm
This undergraduate research project advances a low-cost, open-source manipulation system for a university-scale quadruped, extending the Embry-Riddle OpenMutt platform with a compact 3-R arm and modular end-effectors. Motivated by the high purchase price and limited extensibility of commercial quadrupeds, we target a reproducible, student-serviceable alternative that supports loco-manipulation research and hands-on learning in controls, kinematics, and mechatronics. Open quadruped efforts such as Stanford Doggo demonstrate that transparent, replicable designs can deliver serious research capability at student budgets [1]. Our arm leverages lightweight cycloidal gearing to achieve high torque density in a printable form factor suitable for rapid iteration and repair, aligning with undergraduate lab constraints [2]. Actuation uses MAD-class BLDC motors with ODrive S1 drivers to provide field-oriented control, high-rate encoder feedback, and flexible I/O in a compact package that integrates cleanly with our electronics stack [3]. The control architecture combines joint-level PID on the drives with a model-based, task-space controller derived from modified Denavit–Hartenberg kinematics. To improve numerical robustness for six-DoF end-effector tracking and simplify interpolation of coupled rotation/translation, we represent pose with dual quaternions and implement full-state feedback in ROS 2 [5]. Communication, logging, and tool management run on ROS 2 with tuned QoS settings; prior studies show that ROS 2, paired with a PREEMPT_RT Linux kernel and appropriate middleware, can achieve reliable real-time performance for distributed robotic control, informing our scheduling and benchmarking plan [4]. At the time of writing, the arm’s mechanical assemblies are built and mounted; current work focuses on firmware bring-up, driver integration, and controller tuning, followed by bench calibration and on-robot validation. Evaluation will quantify reachable workspace, positioning/orientation accuracy, torque transparency, and task success across representative campus scenarios (door interaction, inspection, fixture manipulation), while documenting a reproducible. By releasing all CAD, electronics, and software openly, this project lowers the barrier for undergraduate research in gait planning, perception-in-the-loop manipulation, and whole-body loco-manipulation on legged platforms. References [1] N. Kau, A. Schultz, N. Ferrante, and P. Slade, “Stanford Doggo: An open-source, quasi-direct-drive quadruped,” in Proc. IEEE Int. Conf. Robotics and Automation (ICRA), 2019, pp. 6309–6315. doi:10.1109/ICRA.2019.8794436. [2] W. Roozing, “3D-printable low-reduction cycloidal gearing for robotics,” Univ. of Twente, Enschede, The Netherlands, Tech. Rep., 2022. [Online]. Available: PDF via Univ. of Twente research portal. [3] ODrive Robotics, “ODrive S1 Datasheet,” Online documentation, accessed Oct. 27, 2025. (ODrive Robotics Docs) See also: ODrive S1 product page (specs and interfaces). [4] Y. Ye, Z. Nie, X. Liu, F. Xie, et al., “ROS 2 real-time performance optimization and evaluation,” Chinese Journal of Mechanical Engineering, vol. 36, no. 1, 2023, Art. no. 144. doi:10.1186/s10033-023-00976-5. [5] B. Kenwright, “A beginner’s guide to dual-quaternions: What they are, how they work, and how to use them for 3D character hierarchies,” tutorial paper, 2012. [Online]. Available: PDF (GMU host).