HyperDog: An Open-Source Quadruped Robot Platform Based on ROS2 and micro-ROS

TL;DR

HyperDog is an open-source, lightweight quadruped robot platform based on ROS2 and micro-ROS, designed for affordable and customizable development and testing of locomotion algorithms in simulation and real-world environments.

Contribution

The paper introduces HyperDog, a fully 3D-printed, open-source quadruped robot platform integrated with ROS2 and micro-ROS for accessible research and development.

Findings

HyperDog is built from 3D printed parts and carbon fiber for lightweight strength.

The platform supports testing algorithms in both simulation and real environments.

Open-source code is available on GitHub for community use and development.

Abstract

Nowadays, design and development of legged quadruped robots is a quite active area of scientific research. In fact, the legged robots have become popular due to their capabilities to adapt to harsh terrains and diverse environmental conditions in comparison to other mobile robots. With the higher demand for legged robot experiments, more researches and engineers need an affordable and quick way of locomotion algorithm development. In this paper, we present a new open source quadruped robot HyperDog platform, which features 12 RC servo motors, onboard NVIDIA Jetson nano computer and STM32F4 Discovery board. HyperDog is an open-source platform for quadruped robotic software development, which is based on Robot Operating System 2 (ROS2) and micro-ROS. Moreover, the HyperDog is a quadrupedal robotic dog entirely built from 3D printed parts and carbon fiber, which allows the robot to have light weight and good strength. The idea of this work is to demonstrate an affordable and customizable way of robot development and provide researches and engineers with the legged robot platform, where different algorithms can be tested and validated in simulation and real environment. The developed project with code is available on GitHub (https://github.com/NDHANA94/hyperdog_ros2).