OMEGA: Open-Source and Multi-Mode Hopping Platform for Educational and Groundwork Aims

IF 5.3 2区计算机科学 Q2 ROBOTICS IEEE Robotics and Automation Letters Pub Date : 2025-03-11 DOI:10.1109/LRA.2025.3549661

Xiangyu Chu;Fei Yan Wong;Chun Yin Fan;Hongbo Zhang;Yanlin Chen;K. W. Samuel Au

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Abstract

This letter presents OMEGA, a new open-source, multi-mode hopping platform. It consists of a rig and a middle-size robot equipped with an omnidirectional parallel 3-RSR leg, allowing for 1D, 2D, and 3D hopping modes. All modes can be easily interchanged via detachable mechanisms. A control framework is developed to operate all modes based on a 3D SLIP model. To our knowledge, few middle-size monopod robots can locomote in the field, making OMEGA a complementary addition to existing legged platforms. This versatile solution uses accessible manufacturing technologies such as 3D printing and water-jet cutting, and the implementation of detachable mechanisms, enabling operators to explore legged dynamic motion with a single robot across different modes, instead of requiring multiple robots for different purposes. A simulator is developed for initial hopping control learning. Extensive experiments in 1D/2D tethered and 3D untethered modes demonstrate the platform's mobility and versatility. The proposed platform has the potential to serve both educational and groundwork aims.

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欧米茄：开源和多模式跳跃平台的教育和基础目标

这封信介绍了OMEGA，一个新的开源，多模式跳跃平台。它由一个钻机和一个中型机器人组成，配备了一个全方位平行的3-RSR腿，允许1D， 2D和3D跳跃模式。所有模式都可以通过可拆卸的机制轻松地互换。开发了一个基于三维SLIP模型的控制框架来操作所有模式。据我们所知，很少有中型单脚机器人可以在野外移动，这使得OMEGA成为现有腿式平台的补充。这种多功能的解决方案使用了3D打印和水射流切割等易于使用的制造技术，以及可拆卸机构的实施，使操作员能够使用单个机器人在不同模式下探索腿部动态运动，而不是需要多个机器人用于不同目的。开发了用于初始跳跃控制学习的仿真器。在1D/2D系留和3D非系留模式下的大量实验证明了该平台的移动性和多功能性。提议的平台有潜力服务于教育和基础目标。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.