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

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.