Open-source robotics
Open-source robotics is a branch of
.Requirements
Open source robotics means that information about the hardware is easily discerned, so that others can easily rebuild it. In turn, this requires design to use only easily available standard subcomponents and tools, and for the build process to be documented in detail including a
Licensing requirements for software are the same as for any
Hardware systems
Applications to date include:
- Robot arms, e.g. PARA[2][3]
- Wheeled mobile robots. e.g. OpenScout[4]
- four-legged robots such as the Open Dynamic Robot Initiative[5]
- UAV quadcopters such as Agilicious[6]
- Vertical farming[7]
- Swarm robots, e.g. HeRoSwarm[8]
- Humanoid robots, e.g. iCub
- Self-driving cars, e.g. OpenPodcar[9] (→ Personal rapid transit)
- Laboratory robotics such as chemical liquid handling [10]
- Robot fish, eg. OpenFish[11]
- Domestic tasks: vacuum cleaning,[12][13] floor washing[citation needed] and automated mowing[citation needed].
- Robot sports including combat robots[citation needed] and racing [14]
- Education[15]
- 3D photogrammetry[16][additional citation(s) needed]
Hardware subcomponents
Most
Open subcomponents can include
Open source robots are often used together with, so are designed to interface to, the open source robotics middleware Robot Operating System and various open source simulators such as Gazebo, running on the open source Linux operating system.
Middleware
Robotics middleware is software which links multiple other software components together. In robotics, this specifically means real-time communication systems with standardized message passing protocols. The predominant open source middleware is ROS, the robot operating system. Other alternatives include YARP -- used in the iCub, URBI, and Orca.
Driver software
Most robot sensors and actuators require software drivers. There is little standardization of open source software at this level, because each hardware device is different. Creating open drivers for closed hardware is difficult as it requires both
Simulation software
Open source robotics simulators include Gazebo and Webots. Open source 3d game engines such as Godot are also sometimes used as simulators, when equipped with suitable middleware interfaces.
Automation software
At the level of
- SLAM such as gmapping
- Mobile robot planning such as move_base
- Arm inverse kinematics such as moveIt
- machine vision systems such as the YOLO object detector.
Community
The first signs of the increasing popularity of building robots yourself were found with the
The community has adopted
As with other forms of
Compared to other forms of
The software community is centered around ROS and meets annually at the RosCon conference to discuss development of ROS itself and automation components built on it.
See also
References
- ISBN 978-0-321-90604-5.
- PMID 35607683.
- .
- doi:10.5334/joh.54.
- ^
Grimminger, F; Meduri, A; et, al (2020). "An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research". IEEE Robotics and Automation Letters. 5 (2): 3650–3657. S2CID 203610542.
- S2CID 249955269.
- doi:10.5334/joh.53.
- S2CID 253384613.
- doi:10.5334/joh.46.
- .
- .
- ^ "DIY commercial vacuum robot". The Red Ferret Journal. 30 October 2007. Retrieved 13 September 2014.
- ^ "DIY Roomba preposition on Arduino motherboard". Archived from the original on 3 December 2010. Retrieved 13 September 2014.
- ^ "f1tenth".
- S2CID 54438146.
- ISBN 978-0-7918-4900-2.
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