# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: Antagonistic Tendon Driven Continuum Robot
summary: A research continuum robot with 4 degrees of freedom that drives two tendons per antagonistic pair with a single servo and measures tendon force with load cells.
category: other
difficulty: advanced
license:
  hardware: CERN-OHL-W-2.0
  software: CERN-OHL-W-2.0
source:
  repository: https://github.com/ChristianMarzi/Tendon-Driven-Continuum-Robot
  ref: b399713f9a5e6cb2ae25104151871d8e28667a81
tools:
  - SLS 3D printer
  - screwdriver
files:
  cad: substruction/
  images:
    - images/tdcr.png
software:
  framework: ros
specs:
  dof: 4
build_steps:
  - title: Print the substruction, base, force measurement and robot body parts
  - title: Assemble the power supply, Arduino and load cell measurement hardware in the sub
  - title: Mount the servo motors, tendon pulleys and base plate
  - title: Assemble the force measurement mounts, load cells and tensioning mechanism
  - title: Build the robot body from the Nitinol backbone and spacer disks
  - title: Flash the motor driver firmware to the Arduino and set up rosserial
  - title: Connect the Phidget 4-Input Bridges and the ROS load cell driver