Allegro Dog
A quadruped robot with software and hardware designed to facilitate robotics research. The Allegro Dog is a quadruped robot with twelve active and four passive degrees of freedom. The legs are deigned to have a low inertia and are actuated by Maxon motors and gear reduction boxes. The controller is an on-board computer with RoboticsLab software. It has distributed control and can be controlled in real time or can be simulated with hardware-in-the-loop. The Allegro Dog comes with its own version of SimLab's Allegro Application Studio (AAS), a robotics software for developing and testing control algorithms for a variety of commercial robots. AAS for the Allegro Hand includes a customized kinematics/dynamics simulator based on RoboticsLab. Algorithms developed can be applied to the virtual hand as well as directly to the real hand without any changes to the code.
Simlab Robotics
Specifications
| Length | 450 | mm |
| Width | 250 | mm |
| Height | 500 | mm |
| Weight | 24 | kg |
| Computer | Advantech MIO-5290 single board computer | |
| Power | 4 | 24V, 4500mAh batteries |
| Joint Limits | +- 130 | deg |
| Drive | Belt Drive | |
| Max Payload | 11 | kg |
| Max battery runtime | 2 | h |
| Actuators | 90 | W Maxon motor and gear-reduction box |
Overview
The Allegro Dog is a quadruped robot with twelve active and four passive degrees of freedom. The legs are deigned to have a low inertia and are actuated by Maxon motors and gear reduction boxes. The controller is an on-board computer with RoboticsLab software. It has distributed control and can be controlled in real time or can be simulated with hardware-in-the-loop.
Software
The Allegro Dog comes with its own version of SimLab's Allegro Application Studio (AAS), a robotics software for developing and testing control algorithms for a variety of commercial robots. AAS for the Allegro Hand includes a customized kinematics/dynamics simulator based on RoboticsLab. Algorithms developed can be applied to the virtual hand as well as directly to the real hand without any changes to the code.
References
Describes the hardware, software, and component overview. Goes into the kinematic information, as well as the dynamic info.
Contains the code to control the Allegro Dog robot.
Describes the project, and its specifications.
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