Work Description

Date: 15 September, 2023

Dataset Title: SKOOTR: A SKating, Omni-Oriented, Tripedal Robot [Design and Code]
Dataset Creators: Adam Hung, Challen Enninful Adu, Talia Y. Moore

Dataset Contact: Talia Moore taliaym@umich.edu

Key Points:
- We include STL models of 3D-printed parts that compose the robot, reference STL models of off-the-shelf parts, and STL model dependencies of the robot simulation. These STL models can be opened in open-source software platforms, such as MeshLab.
- We include Arduino (.ino) files that are used to control the robot
- We include MATLAB (.m) files that demonstrate calculations driving the control of the robot.
- We include a URDF file that can be used to simulate the robot
- We include Python (.py) files that simulate the robot

Research Overview:
In both animals and robots, locomotion capabilities are determined by the physical structure of the system. The majority of legged animals and robots are bilaterally symmetric, which facilitates locomotion with consistent headings and obstacle traversal, but leads to constraints in their turning ability. On the other hand, radially symmetric animals have demonstrated rapid turning abilities enabled by their omni-directional body plans. Radially symmetric tripedal robots are able to turn instantaneously, but are commonly constrained by needing to change direction with every step, resulting in inefficient and less stable locomotion. We address these challenges by introducing a novel design for a tripedal robot that has both frictional and rolling contacts. Additionally, a freely rotating central sphere provides an added contact point so the robot can retain a stable tripod base of support while lifting and pushing with any one of its legs. The SKating, Omni-Oriented, Tripedal Robot (SKOOTR) is more versatile and stable than other existing tripedal robots. It is capable of multiple forward gaits, multiple turning maneuvers, obstacle traversal, and stair climbing. The SKating, Omni-Oriented, Tripedal Robot has been designed to facilitate customization for diverse applications: it is fully open-source, is constructed with 3D printed or off-the-shelf parts, and costs approximately $500 USD to build.

Methodology:
We modeled the STL files using the CAD software Onshape, and 3D-printed the printable parts using UltiMaker Cura slicing software and Creality Ender 5 3D printers. We used the Arduino IDE to develop Arduino code that allows the Arduino microcontroller to run a variety of gait or maneuver functions on the robot in real time. We wrote additional code in MATLAB to demonstrate the calculations for the inverse kinematics of the robot. We also generated a URDF file for the robot by defining the degrees of freedom of the robot and describing its tree of joints and links, for use with the Robot Operating System.
We also used Visual Studio Code to write a python script to simulate the robot, using the PyBullet real-time physics simulation framework.

Instrument and/or Software specifications:
Meshlab 2022.02
Arduino IDE 2.1.1
Matlab_R2023a
Python 3.11.4

Files contained here:
The folders are organized to include code and models.

-skootrsizzle.mp4 is a video that describes the features and capabilities of the SKOOTR robot.

-Data includes 2 subfolders:
--CAD contains 3 subfolders:
---Frame (printed parts) includes the STL files for the printed parts within the rigid frame of the robot, the bill of materials, and the assembly guide.
---Legs (printed parts) includes the STL files for the printed parts within the legs of the robot.
---Non-printed Parts includes the STL files for the non-printed components of the robot to be used as reference in assemblies.
--Code contains the Arduino, MATLAB, URDF, Python code, and STL files for the simulated robot.
-Code includes 3 subfolders
---Arduino contains the Arduino code that is used to control the robot.
---Matlab contains the MATLAB code that is used to make and display calculations.
---SKOOTR Simulation contains the URDF file scooter.URDF, the Python script simulate.py, and STL dependencies that are used to simulate the robot.

Related publication(s):
Hung, A., Enninful Adu, C., Moore, T.Y. (in review) SKOOTR: A SKating, Omni-Oriented, Tripedal Robot for dynamically stable indoor navigation. IEEE ICRA

Use and Access:
Attribution - NonCommercial 4.0 International (CC BY-NC 4.0)

To Cite Data:
Hung, A., Enninful Adu, C., Moore, T.Y. (2023) SKOOTR: A SKating, Omni-Oriented, Tripedal Robot [Design and Code]