haraduka / mevius

A Quadruped Robot Easily Constructed through E-Commerce with Sheet Metal Welding and Machining

MEVIUS

This repository includes the hardware and software components of "MEVIUS: A Quadruped Robot Easily Constructed through E-Commerce with Sheet Metal Welding and Machining."

Please refer to the following links for more information.

• Project Page
• arXiv
• YouTube

Hardware

You can find all the hardware components in the following link

• Goodle Drive

Software Dependencies

Please install the following dependencies.

• ROS
• realsense-ros
• spacenav_node
• urdfdom-py
• legged_gym

Please install the following python packages.

• bitstring
• pytorch

Build

mkdir -p ~/mevius_ws/src
cd ~/mevius_ws/src
git clone [e-mail]:haraduka/mevius.git
cd ..
catkin build
source ~/mevius_ws/devel/setup.bash

Reinforcement Learning

Caution: This policy is very simple and not so stable. Currently, it became very stable with a lot of improvement and will be uploaded soon.

# in legged_gym
git remote add haraduka [e-mail]:haraduka/legged_gym.git
git fetch haraduka
git checkout haraduka/mevius

# train with two phases
# first phase
python3 legged_gym/scripts/train.py --task mevius
# second phase
# change the parameters in legged_gym/envs/mevius/mevius_config.py from "first" to "second"
# there are two parameters to change: commands.ranges and domain_rand.friction_range
python3 legged_gym/scripts/train.py --task mevius
python3 legged_gym/scripts/play.py --task mevius --load_run ( log_dir )
cp logs/flat_mevius/( log_dir )/exported/policies/policy_1.pt ../mevius/models/policy.pt

Usage

Please test the installation by running the following command.

python3 scripts/mevius_utils.py

Please test the motors by running the following command.

./bin/can_setup.sh
python scripts/tmotor_test.py --ids 1 --task sense

Please test the real robot by running the following command.

# in the PC of MEVIUS
roscore
roslaunch realsense2_camera rs_t265.launch
./bin/can_setup.sh
python3 scripts/mevius_main.py

# in your local PC
roslaunch spacenav_node classic.launch
rostopic pub -1 /mevius_command std_msgs/String "data: 'STANDUP'"
rostopic pub -1 /mevius_command std_msgs/String "data: 'WALK'"

Acknowledgements

• scripts/tmotor_lib.py is from mini-cheetah-tmotor-python-can
• scripts/isaacgym_torch_utils.py is from IsaacGym
• scripts/legged_gym_math.py is from LeggedGym

Citation

@inproceedings{kawaharazuka2024mevius,
  author={K. Kawaharazuka and S. Inoue and T. Suzuki and S. Yuzai and S. Sawaguchi and K. Okada and M. Inaba},
  title={{MEVIUS: A Quadruped Robot Easily Constructed through E-Commerce with Sheet Metal Welding and Machining}},
  booktitle={Proceedings of the 2024 IEEE-RAS International Conference on Humanoid Robots},
  year=2024,
}