Aracna: An Open-Source Quadruped Robotic Platform

Aracna is a new, quadruped robot platform which requires non-intuitive motor commands in order to locomote and thus provides an interesting challenge for gait learning algorithms, such as those frequently developed in the Evolutionary Computation and Artificial Life communities. Aracna is an open-source hardware project composed of off-the-shelf and 3D-printed parts, enabling other research teams to modify its design according to their scientific needs.

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Developers: Sara Lohman, Jason Yosinski, Jeremy Blum, Eric Gold, Jeff Clune, and Hod Lipson

Duration : 0:1:8

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24 thoughts on “Aracna: An Open-Source Quadruped Robotic Platform

  1. Very cool but the …
    Very cool but the legs can’t be? printed with rep rap type printers and the servos are very expensive.

  2. Not at this time. ? …
    Not at this time. ? The Movement technique is intentionally non-intuitive to make algorithm development more robust.

  3. Hey Jeremy, are …
    Hey Jeremy, are there plans to add a third DOF to? each leg, introducing hip abduction to allow it to move around more easily/biomimetically? I know this isn’t the point of the algorithm research, and it would add 4 extra degrees of complication, but it would be more useful for a researcher looking for a robust and open-source quadruped platform. Thanks!

  4. Great leg design …
    Great leg design and very aesthetically pleasing, but 2 DoF per? leg? Really? A coxa? joint would open the door to so much more. CoG shift algorithms, sloped terrain compensation, changing the footprint of the gait to access small spaces, etc, etc. Surely there is an explanation that I have neglected to realize. Cost maybe, or just trying to minimize size and weight? Seriously though, this is an awesome design.

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