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Here is a glimpse of what we developed:
4_Wheel_Running.mp4
Meet the FOCAS Explorer Beta version!! This robot is highly modular in design, electronics, and software aspects. It has a sturdy design as shown in the images below. Along with being highly modular, it is developed from parts available in India. As it is the 1st open-source and the only available research-grade outdoor mobile robot prototype, the availability of parts utilized is an important point that was kept in consideration while developing it. Furthermore, the best part is that it is COST EFFECTIVE!! Some similar research platforms available currently cost anywhere around $6000 - $20000. FOCAS Explorer just costs $3500 - $4000!!!
It is yet to be publicized to other research bodies. It has uses in almost every research environment! If not used for research in robotics, this robot can carry a payload of around 35kgs (approx.) and can carry it around for 20 mins on a single charge!
All the designing, fabrication and ideation is done in-house at the FOCAS Lab, IISc. The power-supply, sensor and peripherals interfacing boards (PCBs) are designed in-house. They are shown below:
⬆️CAD MODELS ⬆️
⬇️WORKING MODELS⬇️
This is a continuing research project. In the end, we designed and fabricated the robot, controlled it remotely on open-loop control, and also deployed a readily available SLAM package to test the robot. The robot serves the purpose and is ready to be used in the outdoor environment.
There will be some design improvements made to the current design in the future. This robot will have a manipulator mounted on the top for pick and place operations. Additionally, 2D LiDAR will be replaced by 3D LiDARFor the same, additional software improvements will also be made.
Technicalities:
Software and Languages: C++, Python, Ki-CAD, Altium, Solidworks, Ansys
Hardware: Jetson, Intel RealSense, RP-Lidar, Teensy 4.1, FS-i6.
4_Wheel_rotating.mp4outdoor_testing.mp4-- "It was an enthralling experience working with the team at the FOCAS LAB, RBCCPS, Indian Institute of Science. The learning curve was steep and full of new experiences. I take with me a time full of learning and fun moments!! "
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