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
Universiteit Gent
Specifications
| Maximum speed | 0.63 | ms |
| Weight | 5.1 | kg |
| Length | 0.4 | m |
| Hip height | 0.18 | m |
| Overall height | 0.31 | m |
| Width | 0.25 | m |
| Power | 4500 mAh lithium polymer battery pack | |
| Servos | high-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.
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
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.
Provides a description of the project; its goal, motivations, and hardware choices.
This Repository holds all mechanical and electronics blueprint of the Oncilla robots.
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