OpenRoACH: A Durable Open-Source Hexapedal Platform with Onboard Robot Operating System (ROS)

TL;DR

OpenRoACH is a compact, open-source hexapedal robot capable of running ROS onboard, designed for easy fabrication, assembly, and versatile robotic experiments, demonstrating robust multi-surface mobility and payload handling.

Contribution

This paper introduces the smallest legged robot with onboard ROS capability, featuring open-source design, easy fabrication, and versatile sensory and control functionalities.

Findings

Successfully demonstrated multi-surface walking and running.

Achieved 24-hour continuous walking endurance.

Carried payloads up to 800 grams while maintaining mobility.

Abstract

OpenRoACH is a 15-cm 200-gram self-contained hexapedal robot with an onboard single-board computer. To our knowledge, it is the smallest legged robot with the capability of running the Robot Operating System (ROS) onboard. The robot is fully open sourced, uses accessible materials and off-the-shelf electronic components, can be fabricated with benchtop fast-prototyping machines such as a laser cutter and a 3D printer, and can be assembled by one person within two hours. Its sensory capacity has been tested with gyroscopes, accelerometers, Beacon sensors, color vision sensors, linescan sensors and cameras. It is low-cost within \$150 including structure materials, motors, electronics, and a battery. The capabilities of OpenRoACH are demonstrated with multi-surface walking and running, 24-hour continuous walking burn-ins, carrying 200-gram dynamic payloads and 800-gram static payloads, and ROS control of steering based on camera feedback. Information and files related to mechanical design, fabrication, assembly, electronics, and control algorithms are all publicly available on https://wiki.eecs.berkeley.edu/biomimetics/Main/OpenRoACH.