Oncilla Robot

A mobile cat-sized, quadruped legged locomotion machine with the capability of model-free locomotion control. Oncilla robot is designed modularly; its legs and trunk, actuators, sensors, and controllers are relatively easy to replace. Reproducing parts requires a low level of technology; access to a generic 3D printer, and a basic machining workshop. Components such as brushless motors are off-the-shelve items. Printed circuit board layouts and firmware code are included in the project source code. If required, they can be replaced by custom solutions—Oncilla robot’s custom interfaces are open sourced

Specifications

Maximum speed 0.63 ms
Weight 5.1 kg
Length 0.4 m
Hip height 0.18 m
Overall height 0.31 m
Width0.25 m
Power4500 mAh lithium polymer battery pack
Servoshigh-geared RC servo
Sensors two-axis force sensors
IMU MicroStrain 3DM-GX3-35 IMU

Overview

Oncilla robot is designed modularly; its legs and trunk, actuators, sensors, and controllers are relatively easy to replace.

Reproducing parts requires a low level of technology; access to a generic 3D printer, and a basic machining workshop. Components such as brushless motors are off-the-shelve items. Printed circuit board layouts and firmware code are included in the project source code. If required, they can be replaced by custom solutions—Oncilla robot’s custom interfaces are open sourced.

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References

Describes the robot’s mechanical hardware and explains the software architecture of the robot. Results from hardware and simulation experiments are shown. Discusses design, results and future directions. Provides links to the open-source files + supplementary material provides further details on rob

A Sprowitz, A Tuleu, M Ajallooeian, et al. - in Front. Robot. AI, 2018.

Compares three different trotting techniques and five different turning strategies on the Oncilla. The locomotion techniques were optimized on the actual hardware using a treadmill setup, without relying on models.

J. Degrave, M. Burm, T Waegeman, et al. - IEEE International Conference on Robotics and Biomimetics (ROBIO), March 2014.

Provides a description of the project; its goal, motivations, and hardware choices.

A Sproewitz, L Kuechler, A Tuleu, et al. - In book: Symposium on adaptive motion of animals and machines (AMAM 2011), January 2011.

This Repository holds all mechanical and electronics blueprint of the Oncilla robots.

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