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Additively Manufactured Open-Source Quadruped Robots for Multi-Robot SLAM Applications

Zachary Fuge, Benjamin Beiter, Alexander Leonessa

TL;DR

Squeaky is an affordable quadrupedal robot designed to have easily adaptable hardware and software, capable of creating a merged map under a shared network from multiple robots, and available open-source for the benefit of the research community.

Abstract

This work presents the design and development of the quadruped robot Squeaky to be used as a research and learning platform for single and multi-SLAM robotics, computer vision, and reinforcement learning. Affordable robots are becoming necessary when expanding from single to multi-robot applications, as the cost can increase exponentially as fleet size increases. SLAM is essential for a robot to perceive and localize within its environment to perform applications such as cave exploration, disaster assistance, and remote inspection. For improved efficiency, a fleet of robots can be employed to combine maps for multi-robot SLAM. Squeaky is an affordable quadrupedal robot, designed to have easily adaptable hardware and software, capable of creating a merged map under a shared network from multiple robots, and available open-source for the benefit of the research community.

Additively Manufactured Open-Source Quadruped Robots for Multi-Robot SLAM Applications

TL;DR

Squeaky is an affordable quadrupedal robot designed to have easily adaptable hardware and software, capable of creating a merged map under a shared network from multiple robots, and available open-source for the benefit of the research community.

Abstract

This work presents the design and development of the quadruped robot Squeaky to be used as a research and learning platform for single and multi-SLAM robotics, computer vision, and reinforcement learning. Affordable robots are becoming necessary when expanding from single to multi-robot applications, as the cost can increase exponentially as fleet size increases. SLAM is essential for a robot to perceive and localize within its environment to perform applications such as cave exploration, disaster assistance, and remote inspection. For improved efficiency, a fleet of robots can be employed to combine maps for multi-robot SLAM. Squeaky is an affordable quadrupedal robot, designed to have easily adaptable hardware and software, capable of creating a merged map under a shared network from multiple robots, and available open-source for the benefit of the research community.
Paper Structure (8 sections, 8 figures)

This paper contains 8 sections, 8 figures.

Table of Contents

  1. Introduction
  2. Overall Design
  3. Mechanical Design
  4. Electrical Design
  5. System Overview
  6. SLAM
  7. Results
  8. Conclusion

Figures (8)

  • Figure 1: Images of the Robot, CAD and Physical Version. Robot can be found https://gitlab.com/trec-lab
  • Figure 2: Left image is PCB in CAD and right image is Physical PCB
  • Figure 3: Squeaky Dimension, All dimensions are in mm
  • Figure 4: Overview of the system components for communication and control of Squeaky
  • Figure 5: Bill of Material of Squeaky with and without perception
  • ...and 3 more figures