SweetieBot project: compact walking robot powered by ROS

The report presents the experience of creating a walking robot on ROS in the "weekend" project mode. The report will be of interest to robotics enthusiasts who are going to lead their own project, because Oleg Goncharov covers the full path of creating a robot from an idea to a fully functional prototype. And at the same time, walking robot specialists can also learn something new for themselves. Project development is also open to the community.







We continue to publish reports from the ROS Meetup held on April 18, in anticipation of the new one, which will be held on December 5. If you want to watch new reports on robotics, and not after a year, then register for the new ROS Meetup, which will take place this Saturday.

Video recording of the report

Summary of the report

Analysis of similar projects like Bioloid, Robotis OP3, Nimbo OP. Why are they expensive and not as interesting as a four-legged robot?







The choice of hardware, computer and drives for the robot. Experience with cheap Dynamixel servo counterparts.



Analysis of the structure of the software. Division into real time system, ROS.







Comparison and selection of the real-time subsystem: ros_ontrol, ControlIt !, OROCOS.



Approaches to controlling the movement of a four-legged robot: Whole Body Controller, open circuit, precompensation of external forces.



Simulation of a four-legged robot in Gazebo.







Planning robot movement: manual planning, MoveIt, TOWR.



Sensors: camera, IMU, battery level, voice recognition and voice commands.



Decision systems: FlexBe state machine, SOAR, behavior trees, etc.







The SweetieBot project is a great example of an open source robotics project using ROS. If you want to see more interesting works on robotics, come to the online ROS Meetup which will take place on December 5.