Reachy just gained mobility with an open source omnidirectional mobile base

A few of you also can already know Reachy, the commence supply humanoid robot that we created at Pollen Robotics.

It’s a ways truthful to notify it’s been moderately an spell binding hotfoot since we launched Reachy support in January 2020 at CES Las Vegas.

Reachy modified into within the origin an commence platform to explore AI and robotics applications. Over time, it has received some cool parts: early 2021 the Cohesion-based mostly entirely VR teleoperation app that helps you to manipulate the robot remotely, that identical Twelve months, a switch in direction of a ROS2 foxy operated machine, and exact closing month, a tag unusual cellular putrid that may maybe well well rob Reachy areas. This permits the robot to circulate in any course, turn itself round, plow via doorways, squeeze via tight areas…and total align with our all-time aim: to fabricate robotic solutions that may maybe well well evolve within the chaos of on a regular basis environment.

However ample mentioned…request Reachy and its unusual cellular putrid in action:

What modified into the thinking within the support of this unusual characteristic? In most cases, we wished a cellular putrid with a obvious dangle for Reachy. The establish most robotic cellular bases on the market are round and equipped with 2 long-established wheels or square with 4 mecanum wheels, we chose to focal point on a round form dangle and a 3 omni wheel mechanism for increased agility and compactness. Also, it has a smaller volume than the same products.

Reachy’s cellular putrid is equipped with one encoder and one Inertial Dimension Unit for every wheel, and a 2D Time Of Flight (ToF) LIDAR. The embedded High-pause LiFePO4 battery comes with a warranty of 5 to 10 years and offers 10 hours of exhaust. We are currently integrating the ROS2 navigation stack. Simulation in Gazebo is already seemingly.

In spite of all the issues, the cellular putrid also will most doubtless be managed from the Python SDK or the teleoperation app. Controlling Reachy with Python is sizable easy. With exact few traces of code, Reachy can circulate round:

from mobile_base_sdk import MobileBaseSDK mobile_base = MobileBaseSDK('192.168.1.21') 
mobile_base.go_to(x=0.5, y=0.0, theta=0.0)

We are able to’t wait to request what you assemble with our cellular Reachy!

More about Reachy’s cellular unusual parts on ROS discourse.