Is this project an undergraduate, graduate, or faculty project?
Undergraduate
Project Type
group
Campus
Daytona Beach
Authors' Class Standing
Dylan Ballback, Senior Bryan Gonzalez, Graduate Student Dominick Strollo, Senior Jack Caiola, Senior Harrison Bryant, Senior Allure Adams, Senior Stephanie Sibayan, Senior Sanjana Murthy, Senior Joseph Perry, Freshman Avery Cuenin, Junior
Lead Presenter's Name
Dylan Ballback
Lead Presenter's College
DB College of Arts and Sciences
Faculty Mentor Name
Dr. Christopher Hockley
Abstract
The OpenMutt project is an innovative open-source initiative aimed at creating an educational quadruped robot, designed as a multidisciplinary research platform for students and faculty. Powered by 12 brushless motors, each equipped with a custom 3D-printed cycloidal gearbox featuring a 13:1 gear ratio and an O-Drive S1 motor controller, it offers powerful actuation and precise control. With the assembly now complete, the project's focus has shifted to software development, leveraging a Raspberry Pi for motor control via CAN communication and utilizing ROS gazebo simulations for gait testing. 85% of OpenMutt's components are manufactured using Fused Deposition Modeling (FDM) and Stereolithography (SLA) printers, with materials such as Polylactic Acid (PLA), Thermoplastic Polyurethane (TPU), and Formlabs Rigid resin. This choice of manufacturing techniques underscores the project's dedication to accessibility, ease of construction, and rapid design iteration. OpenMutt emphasizes these principles, significantly lowering the barriers to robotics research and offering a practical learning experience that merges theoretical knowledge with hands-on application, thereby advancing the fields of robotics education and control research.
Did this research project receive funding support (Spark, SURF, Research Abroad, Student Internal Grants, Collaborative, Climbing, or Ignite Grants) from the Office of Undergraduate Research?
Yes, Ignite Grant
OpenMutt - 3D Printed Robotic Quadruped Educational Controls Platform
The OpenMutt project is an innovative open-source initiative aimed at creating an educational quadruped robot, designed as a multidisciplinary research platform for students and faculty. Powered by 12 brushless motors, each equipped with a custom 3D-printed cycloidal gearbox featuring a 13:1 gear ratio and an O-Drive S1 motor controller, it offers powerful actuation and precise control. With the assembly now complete, the project's focus has shifted to software development, leveraging a Raspberry Pi for motor control via CAN communication and utilizing ROS gazebo simulations for gait testing. 85% of OpenMutt's components are manufactured using Fused Deposition Modeling (FDM) and Stereolithography (SLA) printers, with materials such as Polylactic Acid (PLA), Thermoplastic Polyurethane (TPU), and Formlabs Rigid resin. This choice of manufacturing techniques underscores the project's dedication to accessibility, ease of construction, and rapid design iteration. OpenMutt emphasizes these principles, significantly lowering the barriers to robotics research and offering a practical learning experience that merges theoretical knowledge with hands-on application, thereby advancing the fields of robotics education and control research.