joeybyrnes/openleg

Hardware and Software for an Open Source Robotic Leg

OpenLeg started as my Senior Design project for ECE445 at UIUC. The goal of the project is to provide a fully open source robotic leg capable of fast dynamic movements for research and development of quadrupedal robots. OpenLeg is intended to make development of robotic legs and associated algorithms accessible to hobbyists and researchers with tight schedules or budgets.

All files required for replicating OpenLeg V1 are provided along with an assembly guide. All crucial mechanical and electrical assembly is now documented in the assembly guide.

Feel free to reach out to me at [email protected] if you are interested in building the leg or contributing to the project.

Please keep in mind- OpenLeg isn't a finished product, it's still very much under development. You can expect everything in the assembly guide to be ready to use but for things not listed in the guide you should expect that there is still development needed to be done.

You can find the OpenLeg V1 Senior Design demo video here: https://www.youtube.com/watch?v=aXOSeKpADnk

Access the Full SolidWorks souce files for OpenLeg V1 in Hardware > OpenLeg_Assembly_Pack_and_Go.zip

OpenLeg has also been featured on the following sites: Hackaday  •  Hackster •  InceptiveMind •  Asgardia

You can find the OpenLeg V2 Actuator source files in Hardware > OpenLeg_V2_Actuator_Pack_and_Go.zip > Actuator_V1.SLDASM

OpenLeg V2 is no longer just a standalone 2 DOF leg, it's a full 3 DOF leg optimized for use in the OpenLeg Quadruped.

OpenLeg V2 is based on a modular actuator with a 50Kv motor, planetary gearbox, and FOC controller all built into one unit. This actuator is used for both of the hip joints, while the knee uses a belt transmission for keeping a nice form factor. The belt transmission has however been updated to have far lower friction that the 90 degree twist design in OpenLeg V1.

openleg's Issues

Feedback for future

Hi.

I don't know where to give feedback so I am opening this issue.

As an user I dream to have a 4 leg walking robot of the medium size dog, that could follow me when I am walking or riding my bicycle. Maybe I am dream to much... Anyway, we need projects like OpenTorque and OpenLeg to make this a reality, so, many thanks for developing and sharing OpenLeg.

I also started the ELegs project, where I want to develop and build for my own an electric legs/exoskeleton with focus on sports for walking and running, just like I do now to go outside and ride my ebike, in future I want to go outside and run and walk using the ELegs: https://github.com/elegs/elegs/wiki

So, many thank you and please keep developing OpenLeg. We know that 3D printing is very accessible now, as also electronics and tools and libraries to develop the software, so, should be possible to develop and build our own walking robots as RepRap community did for 3D printers, Arduino, etc!!

Is OpenLeg Open?

Is OpenLeg "open source"? If so, what is the license of all of the digital artifacts, including source code, STL files and documentation (PDF, etc.)?

If the intent is to make this open source, could you please provide a LICENSE file and a description of what license you would like each of the components to fall under?

Without an explicit license, all work falls under copyright and cannot be considered "open source". Unfortunately, the copyright system is "opt-out" rather than "opt-in" so one must explicitly give a license that gives open source permissions on the source code and other digital artifacts.

Open Source has a commonly accepted definition of:

... products that allows the source code, blueprint or design to be used, modified and/or shared ... . This allows end users and commercial companies to review and modify the source code, blueprint or design for their own customization, curiosity or troubleshooting needs. ... Licenses which only permit non-commercial redistribution or modification of the source code for personal use only are generally not considered as open-source licenses.

Where the emphasis is mine.

I want to be clear: this is your work. If you would like to make it proprietary, this is obviously well within your rights but I would ask to please not confuse the community by claiming it's "open source" or have the project name include the word "open".

If the intent is to open source this project, please provide the required license terms.

URDF model does not exist

Hi,
When I run the Leg_Stand_Sim.py file, I get the following error:

b3Printf: URDF file 'First_App_Test_Stand_urdf4.SLDASM.urdf' not found.
`
And I could not find the URDF file in the repository.
Where can I find?