Practical Integration of Open-Source Control Architectures on Custom Quadruped Robots: Simulation Validation and...

Area of Science:

• Robotics
• Control Systems
• Mechatronics

Background:

• Custom quadrupedal robots are valuable for research but face a "framework gap" when integrating complex open-source control software.
• Porting software to custom hardware presents challenges due to documentation gaps and hardware-specific complexities.

Purpose of the Study:

• To document the integration and validation of two distinct open-source control frameworks (MIT Mini Cheetah and CHAMP) on a custom quadrupedal robot named Scotty.
• To evaluate the feasibility and challenges of using existing frameworks for custom robotic platforms.
• To develop a custom state-based controller and GUI to manage operational states for the quadrupedal robot.

Main Methods:

• Integration of the MIT Mini Cheetah (torque-based) and CHAMP (position-based) control frameworks onto the Scotty quadrupedal robot.
• Validation of the CHAMP framework's locomotion pipeline in the Gazebo simulation environment.
• Development of a custom state-based controller with a web-based GUI for managing robot operational states (Idle, Ready, Down, Stand, Walk).

Main Results:

• The MIT framework integration proved difficult due to limited documentation and architectural complexities.
• The CHAMP framework facilitated the deployment of a validated locomotion pipeline in simulation.
• A custom controller and GUI were successfully developed for state management, enabling individual joint control and parameter tuning on physical hardware.
• Full closed-loop hardware locomotion was not achieved due to project constraints on extensive gait parameter and controller gain tuning.

Conclusions:

• The CHAMP framework offers a more accessible path for integrating open-source control software onto custom quadrupedal robots compared to the MIT framework.
• Custom state management solutions are crucial for orchestrating complex behaviors on robotic platforms.
• This work provides valuable documentation and lessons learned for future developers working on custom robotic systems and control framework integration.