Snake Robot
a 7-DoF snake robot.
Robotis Dynamixel MX-28AR, Protocol1.0.
Ubuntu 16.04 LTS, ROS kinetic, ROS Control.
Install
# 1. install ros kinetic and create workspace
# 2. install dynamixel lib
git clone https://github.com/ROBOTIS-GIT/DynamixelSDK.git
cd DynamixelSDK/c++/build/linux64
make
sudo make install
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib # add dynamixel lib install path
# 3. get code
cd ~/catkin_ws/src
git clone https://github.com/guzhaoyuan/snake_robot.git
git clone https://github.com/guzhaoyuan/snake_moveit_config.git
cd ..
catkin_make
Note: dynamixel communicate using RS485, the official hardware for communicating with dynamixel is USB2Dynamixel. After insert USB2Dynamixel:
sudo chmod 777 /dev/ttyUSB0
Warning: before making any move, make sure the sorvo is not gonna interfere with anything to prevent damage or harm!!
Design
Hardware Setup
Demo
-
ping servo.
cd snake_robot/test/ping make ./ping -
Draw a circle using 2 joints.
roslaunch snake_robot display_twoJointsSnake.launch
-
Draw a circle using 7 joints.
roslaunch snake_robot display_sevenJointSnake.launch -
simulate snake using ros control
roslaunch snake_robot snake_world.launch # launch gazebo and load urdf snake roslaunch snake_robot snake_robot_control.launch # pop up controllers for each joint rostopic pub /snake/joint1_position_controller/command std_msgs/Float64 "data: 1.0" # send command to controller -
control real snake using ros control
roslaunch snake_robot main.launch # launch main including controller_manager and pop up controllers for each joint and keep updating state rostopic pub /snake/joint1_position_controller/command std_msgs/Float64 "data: 0.1" # send command to controller -
control real 2 joint snake to draw ellipse using ros control
roslaunch snake_robot main.launch # launch main including controller_manager and pop up controllers for each joint and keep updating state roslaunch snake_robot display_twoJointsSnake.launch # publish to joint's command topic to control real robot
-
IK for a 3-DoF snake
roslaunch three_joint_snake_moveit_config demo.launch rosrun snake_robot IK_client -
IK for a 7-DoF snake to draw circle
roslaunch seven_joint_snake_moveit_config demo.launch rosrun snake_robot showpath link8 # you can show path of any link in the robot
TODO
- soft limit and transmission jnt motor space convert
- put the snake in gazebo to see how it does in real world
- IK for 2-DoF snake
- implement position interface
- drive one motor
- resource management
- IK for 7-DoF snake
- Draw a circle using 7 joint.