OpenRoACH: The first fully open-sourced and underactuated legged robot




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Published on Sep 21, 2017

The OpenRoACH is a 15-cm long and 200-gram hexapod crawling robot. As the first documented open-source underactuated legged robot platform, it is affordable with accessible materials and off-the-shelf components. Additionally, fabrication is relative easy and straightforward with bench-top fast-prototyping machines such as a laser cutter and a 3D printer. Assembly can be done manually with hot glue, super glue and screws.

Key features include:
- dynamical walking and running capabilities on multiple surfaces and terrain;
- multi-model sensory capacity with gyro, accelerometer, linescan, and beacon;
- mbed programmable and ROS integratable.

For mechanical CAD files, bill of materials, fabrication and assembly guide, electronic wiring diagrams, PCB design files, locomotion control sample programmes, and an ROS interface, please visit:


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