MiniRHex：一种开源的六足机器人 by DYNAMIXEL Robotis
原文链接：https://www.youtube.com/watch?v=ldLXVDNCCzc
At #IROS 2023, we ran into the Carnegie Mellon University Robomechanics Lab. They had some really cool robots there that were Powered by #DYNAMIXEL XL series motors. One of the robots they had featured was the MiniRHex, which used to have XL-320, but have now been upgraded with the XL330 servos.
在2023年的IROS会议上，我们遇到了卡内基梅隆大学机器人力学实验室。他们展示了一些非常酷的机器人，这些机器人由DYNAMIXEL XL系列电机驱动。其中一款特色机器人是MiniRHex，它以前使用的是XL-320电机，但现在已经升级为XL330伺服电机。
MiniRHex is an open source, miniature scale hexapod based on the design of RHex. Notable features include a laser-cut frame and 3D printed legs for low cost construction and an intuitive software package that allows for highly-customizable control over the robot’s behavior. MiniRHex is designed to be an educational and outreach tool to allow students to experiment with a fully functional walking robot at a much lower cost. The low price tag lets research groups maintain a fleet of machines, allowing each student more hands-on interaction with the hardware. Possible educational principles include gait design and optimization, leg design and control, and mobile robot sensor incorporation.
MiniRHex 是一个基于RHex设计的开源微型六足机器人。它的显著特点包括激光切割的框架和3D打印的腿部，这使得其建造成本较低，并且有一个直观的软件包，允许对机器人的行为进行高度定制化的控制。MiniRHex 旨在成为教育和推广工具，让学生能够以更低的成本实验一个完全功能行走的机器人。低廉的价格让研究小组能够维持一队机器，让每个学生有更多的实践操作硬件的机会。教育原理包括步态设计和优化、腿部设计和控制，以及移动机器人传感器的整合。
Robot Specifications
机器人规格
|
参数 |
MiniRHex |
|
质量 |
0.40 kg |
|
承载能力 1 |
1.8-3 kg |
|
长度 |
0.186 m |
|
宽度 |
0.100 m |
|
腿直径 |
0.064 m |
|
腿弹簧常数 |
0.3 N/mm |
|
腿驱动 |
Dynamixel XL330伺服https://item.jd.com/10026901343226.html |
|
板载处理器 |
Arduino MKR WiFi 1010 |
|
单价 |
￥ 259.00 |
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