Abstract
This article presents Hecatonquiros, a complete open-source ecosystem for low cost and lightweight robotic manipulators. It has been released to focus on aerial manipulation applications but can be used in any other robotic application that requires the use of manipulators. The proposed framework provides the control system, a simulation environment, and a set of back ends to allow reusing the algorithms with different hardware setups. Additionally, it is released with a set of tools to ease its usage and various examples to teach the users. Several manipulators models and end-effectors are available for the users to adapt to their different requirements. All the hardware is designed to be three-dimensional printed and its components are low cost and available in common robotic stores, so anyone can reproduce and use them. The software is available in the GitHub repository https://github.com/Bardo91/hecatonquiros .
Highlights
Topic: Field Robotics Topic Editor: David Portugal Associate Editor: Francisco Rico. The intention of this open-source software is to provide the community with a multipurpose, low cost, easy to build and use framework for robotic manipulation
The work presented in this article shows a complete hardware and software system to build, use, and control robotic arms
This system can be used for any robotic application, but it is designed to be applied in aerial manipulation tasks
Summary
The intention of this open-source software is to provide the community with a multipurpose, low cost, easy to build and use framework for robotic manipulation. One example of open-source software is OpenRAVE.[4] It provides an environment to develop algorithms for planning and testing robotic arms in realistic environments. The available models of the robotic arms are introduced, as well as the end-effectors designed for different manipulation applications.
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