OpenMutt - 3D Printed Robotic Quadruped Educational Controls Platform
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.
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.