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SOLO 6 DoF Motion Platform

motion platform

Introduction

We present an open-source 6 DoF motion platform capable of producing controlled highly dynamic motion in 3D space. The idea is to flip a quadruped robot, attach a 3D printed platform (holding the payload) to the feet, and using inverse kinematics to move the attached platform in the closed-loop kinematic chain. 12 motors works together to produce high acceleration.

Our design is based on the open-dynamic-robot-initiative.

The platform design, pybullet simulation and robot control framework are fully open source.

  1. Hardware Framework
  2. Software Framework
  3. Setup and Notes
  4. Calibration and Usage
  5. Program Execution
  6. Video

About the Creaters

The SOLO 6 DoF Motion Platform was created at the Dynamic Locomotion Group at the Max-Planck Institute for Intelligent Systems by:

  • Nayan Man Singh Pradhan
  • Patrick Frank
  • An Mo

Link to Paper

http://dx.doi.org/10.48550/arXiv.2303.17974

Pradhan, N. M. S., Frank, P., Mo, A., & Badri-Spröwitz, A. (2023). Upside down: affordable high-performance motion platform. arXiv preprint arXiv:2303.17974.