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isl-org / OpenBot

OpenBot leverages smartphones as brains for low-cost robots. We have designed a small electric vehicle that costs about $50 and serves as a robot body. Our software stack for Android smartphones supports advanced robotics workloads such as person following and real-time autonomous navigation.
https://www.openbot.org
MIT License
2.77k stars 513 forks source link

Interface to control a robot arm #288

Open OpenBot-Padawan opened 1 year ago

OpenBot-Padawan commented 1 year ago

Is your feature request related to a problem? Please describe. OpenBot is all about autonomous navigation. What about giving OpenBot the ability to manipulate elements of its environment ?

Describe the solution you'd like In the current state of the framework, OpenBot is capable of autonomous navigation with obstacle avoidance, point-goal navigation and tracking. I believe that the provided imitation learning pipeline could be used for manipulation tasks as well. There are currently a number of cheap robot arms on the market, based on a couple of AX12 servos or even classic RC servos. What about creating an interface, both at the firmware and software level, that would support the control of such a robot arm mounted on the robot ?

Describe alternatives you've considered Add a raspberry pi coupled to another low-level board to control the robot arm. It does no makes much sense however since the smartphones usually have a much greater computation power. This would moreover require additional hardware, beside the robot arm itself...

thias15 commented 1 year ago

This sounds like a great idea. Would you be willing to help build this feature?

OpenBot-Padawan commented 1 year ago

Sure, let's do this !

samuk commented 3 months ago

I realise this is an old thread, I have a grabber/lifter on my robot controlled by two 9g servos controlling those might be easier initially than doing a full arm? https://rosmo-robot.github.io/