OpenSHC: A Versatile Multilegged Robot Controller
This work addresses the difficulty of controlling multilegged robots for researchers and engineers, but it is incremental as it builds on existing control methods with a new open-source implementation.
The paper tackled the problem of controlling complex multilegged robots by presenting OpenSHC, a versatile high-level controller that generates gaits and poses, and demonstrated its flexibility on a 30-DOF hexapod, showing that the mammalian configuration offers lower power consumption across step frequencies while the insectoid configuration provides advantages at higher velocities and stability.
Multilegged robots have the ability to perform stable locomotion on relatively rough terrain. However, the complexity of legged robots over wheeled or tracked robots make them difficult to control. This paper presents OpenSHC (Open-source Syropod High-level Controller), a versatile high-level controller {capable of generating gaits and poses for quasi-static multilegged robots, both simulated and with real hardware implementations. With full Robot Operating System (ROS) integration, the controller can be quickly deployed on robots with different actuators and sensor payloads}. The flexibility of OpenSHC is demonstrated on the 30 degrees of freedom hexapod Bullet, analysing the energetic performance of various leg configurations, kinematic arrangements and gaits over different locomotion speeds. With OpenSHC being easily configured to different physical and locomotion specifications, a hardware-based parameter space search for optimal locomotion parameters is conducted. The experimental evaluation shows that the mammalian configuration offers lower power consumption across a range of step frequencies; with the insectoid configuration providing performance advantages at higher body velocities and increased stability at low step frequencies. OpenSHC is open-source and able to be configured for various number of joints and legs.