Quadrupedal walking robot "D'Kitty" for mobility research and benchmark acquisition

■ This is an article posted on June 2019, 12, so the content of the information may be out of date.

A unipedal walking robot on the Unipos website for mobile research and benchmark acquisition D'Kitty Page has been added.

D'Kitty is a quadruped walking robot that has 12 joints, has a high degree of freedom, and can move quickly.
It consists of four symmetrical legs mounted on a square base-shaped body in the center of the body, and an external tracking system (OpenVR) that measures the position and orientation of the body.

ROBEL (Robotics Benchmarks for Learning), one of the benchmark robots developed by Google Brain Team, is a robot that is robust, low-cost, and easy to assemble, but can acquire benchmarks for control and learning. I will.

It supports various simulations, has high navigation and operability, and is useful for solving robot control problems.

ROBEL open source platform

・ D'Claw… Robot for exploring operability
・ D'Kitty… Robot for exploring locomotion performance

[Example of handling results]

D'Kitty

Behavior / simulation environment:
・ Walking in clutter: Walk over obstacles (MuJoCo simulation* etc)
・ Walking through obstacles: Walking through obstacles (MuJoCo simulation* etc)
・ Gravel & branches: Walking place (gravel and branches) (MuJoCo simulation)* etc)
・ Slope & grass: Walking place (hills and grass) (MuJoCo simulation, etc.)
・ Avoid Moving Obstacles: Walking while avoiding moving obstacles
・ Push to Moving Goal: Moving objects
・ Co-ordinate: Move the object to a specific location (specified location)

ROBEL is packaged with a tracking solution based on VIVE Tracker,
Alternative tracking solutions are also available.

* Physics engine software Mu Jo Co Also available