Introducing Diablo - The Innovative Self-Balancing Wheeled-Leg Robot

– 2023-10-04 15:02:00

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Introducing Diablo - The Innovative Self-Balancing Wheeled-Leg Robot - Diablo Robot: Versatile Modes, Impressive Payload, Silent Operation, and More

We are thrilled to introduce you to Diablo, a groundbreaking Self-Balancing Wheeled-Leg Robot that is poised to revolutionize the world of robotics. Whether you're a researcher, an industrialist, or simply a robotic enthusiast, Diablo has something extraordinary to offer. In this blog post, we'll delve deeper into Diablo's technical features, key capabilities, and even guide you on how to set up Diablo with ROS2 Foxy for advanced robotics development using in-house software drivers. Documentation of the software of Diablo can be found at docs.mybotshop.de .

A Platform for Infinite Possibilities

DIABLO is more than just a robot; it's an open development ecosystem. Its design philosophy revolves around flexibility and adaptability. Thanks to its open development ecology, DIABLO offers perfect interfaces for a myriad of applications, making it an ideal choice for researchers, developers, and hobbyists.

At the heart of DIABLO's design are 6 M1502A direct-drive robot joints that enable seamless movement. These joints provide fluid and precise motion, significantly enhancing the robot's overall performance. Whether you're interested in robotics research, autonomous navigation, or simply want to build a robot that suits your unique needs, DIABLO's versatile platform can accommodate it all.

Unboxing innovations

When you open the DIABLO package, you're greeted with a set of essential components to kickstart your robotics journey:

DIABLO biped robot *1
Power adapter *1
Remote controller *1
Toolkit *1
User manual *1

These components provide everything you need to get started with your DIABLO robot. The user manual offers guidance on setup and operation, ensuring that even newcomers to the world of robotics can embark on their journey with confidence.

Impressive Robot Parameters

DIABLO's specifications are truly remarkable, setting it apart in the world of two-wheeled robots. Let's take a closer look at what makes this robot stand out:

Stand Dimensions (L × W × H): 528 × 366 × 491 mm
Creeping Dimensions (L × W × H): 528 × 366 × 231 mm
Maximum load while standing: 4 kg
Maximum Load During Creeping: > 80 kg
Operating noise: <49 dB
SBC Model: Raspberry Pi 4
Operating system: Ubuntu Mate
Maximum Continuous Standing Time: ≥ 90 minutes at an ambient temperature of 25°C
Maximum Continuous Creeping Time: Approximately 4 hours of high-speed creeping at an ambient temperature of 34°C
Maximum Continuous Walking Time: ≥ 40 minutes of low-speed walking at an ambient temperature of 34°C
Jump Height: Maximum jump height of tires: 12 cm
Maximum Driving Speed: 2.4 m/s

These parameters showcase DIABLO's capabilities, from its impressive load-bearing capacity to its ability to operate silently. Whether it's indoor research or outdoor exploration, DIABLO is up for the task.

Powerful Motors at the Core

At the core of DIABLO's agility and precision are its motors. These motors are the driving force behind the robot's dynamic movements. Here are the key engine parameters:

Dimensions: Φ144 × 41.8
Weight: 2.3 kg
Working Voltage: 28-32V
Rated Voltage: 32V
Locked rotor current: 15A
Rated Current: 12A
Rated Torque: 9.6 N⋅m
Rated Speed: 115 rpm
Encoder Resolution (Bits): 15-bit

These motors provide the necessary torque and precision required for DIABLO to execute complex maneuvers, making it suitable for a wide range of applications, from research and development to educational projects.

Technical features

Diablo boasts an impressive array of technical features that make it a game-changer in the world of robotics:

Versatile Modes: Diablo offers three modes - standing, squatting, and creeping, making it adaptable to various tasks and environments.
Impressive Payload Capacity: With a payload capacity of 4kg, Diablo is ready to handle a wide range of applications.
Silent Operation: Operating at less than 49 decibels, Diablo is one of the quietest robots in its class, ensuring minimal disruption in any setting.
Extended Battery Life: Enjoy up to 4 hours of operation in creeping mode and over 40 minutes in standing mode, providing ample time for completing tasks.
Speed and Mobility: Diablo can reach a top speed of 10km/h and tackle slopes of up to 30 degrees with ease.
Direct-Drive Motors: Featuring 6 direct-drive motors, Diablo delivers exceptional performance and precision.
Manufactured by Direct Drive Tech: Backed by the expertise of Direct Drive Tech, you can trust Diablo's quality and reliability.
Head Tilt and Center of Gravity Control: Diablo's head can be tilted up and down, and its center of gravity can be adjusted, enhancing its adaptability.
Robust SDK and ROS Support: An open SDK and built-in ROS2 Foxy support provide endless possibilities for customization and development. Diablo also offers ROS1 support for legacy applications.
Affordability: Diablo offers all these advanced features at an extremely competitive price point, making it accessible to a wide range of users.

Key features

Diablo's versatility and payload capacity make it suitable for research, industrial, and hobbyist applications.
The low noise level ensures that Diablo can operate seamlessly in quiet environments, including research labs and industrial settings.
With its extended battery life, Diablo can handle longer tasks without frequent recharging, especially in creep mode.

Target Sectors

Research : Diablo is an ideal platform for researchers exploring mobility, balance, and robotics algorithms.
Industrial Applications: Diablo can be used for tasks such as material transport, surveillance, and inspection in industrial settings.
Educational Purposes : It provides an accessible and affordable way to teach robotics concepts and programming.
Entertainment : Diablo's agility and adaptability make it suitable for entertainment and interactive exhibits.

Diablo is a game-changer in the world of robotics, offering versatility, affordability, and advanced features. Whether you're a researcher pushing the boundaries of technology or an industrialist seeking efficient solutions, Diablo has the potential to transform your projects. Don't miss out on this exciting opportunity to explore the future of robotics with Diablo.

Diablo ROS Foxy Development: Unleashing the Power of Robotics with MyBotShop Software and ROS2 Foxy

In the world of robotics, staying ahead of the curve is essential to create efficient and cutting-edge robotic solutions. One such advancement that has been making waves is the use of the Diablo robot in conjunction with the MyBotShop software package and ROS2 Foxy. In this blog post, we will guide you through the setup and usage of this powerful combination, opening up a world of possibilities for your robotic projects.

Setting Up Diablo with ROS2 Foxy

Before you can embark on the exciting journey of exploring the capabilities of the Diablo robot, it's crucial to ensure that your setup is correct. Setting up Diablo with ROS2 Foxy involves several essential steps to establish a seamless connection and optimize communication between your host PC and the robot. Here's a detailed guide to get you started on the right track:

1. Connecting to Diablo via Ethernet

To initiate communication with the Diablo robot, your first step is to establish a physical connection using an Ethernet cable. This wired connection serves as the backbone for data transfer between your host PC and the robot.

2. Finding Diablo's IP Address

Diablo's IP address is the key to establishing a connection. You can discover it on your local network using the following command:

sudo nmap -sP 192.168.0.*

This command scans your local network and displays the IP address associated with the Diablo robot. Note down this IP address, as it will be essential for subsequent steps.

3. Logging into Diablo

Now that you have Diablo's IP address, you can log into the robot using the following credentials:

Username: diablo
Password: diablo123

These credentials grant you access to Diablo's system, allowing you to configure and control the robot.

4. Connecting to Wi-Fi

While the initial connection is established via Ethernet, you may want to enable wireless communication between your host PC and Diablo for increased flexibility. To configure Wi-Fi, use the udo nmtui command. Make sure to note Diablo's IP address using ifconfig for future reference.

5. Installing CycloneDDS

CycloneDDS is a critical component for enabling smooth communication with Navigation2 (Nav2), a crucial part of Diablo's functionality. Install CycloneDDS with the following commands:

sudo apt install ros-foxy-rmw-cyclonedds-cpp
export RMW_IMPLEMENTATION=rmw_cyclonedds_cpp

These commands install CycloneDDS and set it as the default middleware for ROS2, ensuring that Diablo's communication is efficient and reliable.

6. Adjusting Cyclone Buffer Size

To optimize CycloneDDS for your specific setup, it's recommended to increase the buffer size. You can do this with the following command:

echo "net.core.rmem_max=8388608\nnet.core.rmem_default=8388608\n" | sudo tee /etc/sysctl.d/60-cyclonedds.conf

This step is necessary only once and ensures that CycloneDDS operates at its best performance.

Running Diablo

With the setup complete, you can now run Diablo on both the Diablo Pi (robot) and your host PC.

Diablo Pi

Launch the Diablo control node on the robot:

ros2 run diablo_ctrl diablo_ctrl_node

Host PC

Build the necessary package using the following commands:

colcon build --symlink-install
export ROS_DOMAIN_ID=5

Now, you can launch Diablo on your host PC with the following command:

ros2 launch diablo_bringup bringup.launch.py

Once Diablo is up and running, you can take advantage of its navigation capabilities. Here's how to navigate in the global frame of the map:

ros2 launch diablo_navigation odom_navi.launch.py

This launch command initializes the Diablo robot on your host PC, providing a unified control interface for seamless interaction.

With these detailed setup instructions, you're all set to unlock the potential of the Diablo robot within the ROS2 Foxy framework. Whether you're conducting research, experimenting with robotics, or simply exploring the world of automation, Diablo offers a robust and versatile platform for your endeavors.

For more information, please visit our website or contact our team for inquiries.

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