Slab Robot

Work in progress...

Mechanical Design

OnShape CAD Document

Simulation

Onshape to Robot is used to generate robot simulation URDF files based on the concept assembly CAD.

# generate urdf
sudo apt install openscad meshlab # install system dependencies
pip install onshape-to-robot # install python application

# generate and output to urdf directory based on urdf/config.json
onshape-to-robot urdf

Run the following commands (or the equivalent on your system) to setup:

# install system dependencies
sudo apt install cmake gcc python3
# Install pytohn dependencies:
pip3 install -r requirements.txt

# Build libslab
mkdir libslab/build
(cd libslab/build && cmake .. && make)

To start, execute ./sim.py. A connected USB gamepad is required.

The controls are:

• Home button resets simulation.
• Select button recenters camera.
• Left stick controls wheels.
  • X-axis controls turning velocity.
  • Y-axis controls forward velocity.
  • D-pad scaled by L-trigger maps to left stick controls.
• Right stick controls legs.
  • X-axis controls rotation of both legs in the same direction.
  • Y-axis controls rotation of both legs in different directions (when not balancing).
  • Y-axis controls body incline (when balancing).
  • Diagonal axis controls individual legs.
  • Buttons scaled by R-trigger maps to right stick controls.
• Holding R button maps right stick to leg position presets.
  • Up maps U preset.
  • Down maps to inverted U preset.
  • Left maps to fully unfolded preset.
  • Right maps to fully folded preset.
• Holding L button disables balance controller.
• Balance controller automatically engages when one pair of legs are detected to be off the ground.