project specification

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.

Specifications

Length450 mm
Width250 mm
Height500 mm
Weight24 kg
ComputerAdvantech MIO-5290 single board computer
Power4 24V, 4500mAh batteries
Joint Limits+- 130 deg
DriveBelt Drive
Max Payload11 kg
Max battery runtime2 h
Actuators90 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.

http://wiki.simlab.co.kr

Contains the code to control the Allegro Dog robot.

https://github.com

Describes the project, and its specifications.

http://alexalspach.com