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

IF 4.6 2区计算机科学 Q2 ROBOTICS

IEEE Robotics and Automation Letters Pub Date : 2025-03-11 DOI:10.1109/LRA.2025.3549661

Xiangyu Chu;Fei Yan Wong;Chun Yin Fan;Hongbo Zhang;Yanlin Chen;K. W. Samuel Au

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引用次数: 0

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.

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来源期刊

IEEE Robotics and Automation Letters Computer Science-Computer Science Applications

CiteScore

9.60

自引率

15.40%

发文量

1428

期刊介绍： The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.