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

From the link of RUBIK LINK V2.0, please download the upper computer installation program and make all the motors MIT mode.

• AK70-10
• AK Serials Manual
• RUBIK LINK V2.0
• Motor Order: FR(1-3) --> FL(4-6) --> BR(7-9) --> BL(10-12) / Proximal --> Distal
• Link Name: FR_scapula_link --> FR_thigh_link --> FR_calf_link
• Joint Name: FR_collar --> FR_hip --> FR_knee

Software Dependencies

Please install the following dependencies.

• ROS
• realsense-ros
• spacenav_node # optional
• virtual_joystick # optional
• urdfdom-py
• legged_gym

Please install the following python packages.

• bitstring
• pytorch
• scipy
• mujoco
• mujoco-python-viewer

Build

mkdir -p ~/mevius_ws/src
cd ~/mevius_ws/src
git clone git@github.com: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 git@github.com: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

# Left Click: SITDOWN/STANDUP, Right Click: STANDUP/WALK

# if you want to simulate the robot in mujoco
python3 scripts/mevius_main.py --sim

# please press D to turn off every-step rendering in mujoco viewer

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. Yuzaki 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,
}