Hexapods, Quadrupeds, and Robot Arms

[mithi]

Finished Projects

1. Write python code for raspberry pi robots
2. Write series of posts about hexapod robots
3. Write motivation for building a hexapod simulator
4. Build a hexapod simulator in Python
5. 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/