Repository for Bachelor group E2103 at NTNU. We are four Automation and Robotics students building a test system for a 4 DOF robotic leg. This Repository will include; Arduino code for embedded controllers, our ROS workspace and URDF model, and MATLAB code for calculations such as IK.
The four joints are actuated by Brushed-DC motors.
Joint states are kept track of by incremental encoders, which communicate with the embedded controller on I2C bus.
The embedded controller is Arduino Mega running as a ROS Serial Node.
The complete thesis can be accessed here.
To facilitate furter work on the project, .stl files are provided for all printed parts. In addition, project files for both the one legged robot and a quadrupedal version is added. To open the .f3z files a project will have to be created in Fusion 360 and the files added to that project using the upload button.