Project files

A 6-DOF Robotic Arm Based on DMM (Dynamixel-like) Motors and Low-Cost Sheet Metal Components

The original intention of this project was to help more students who are interested in dynamics to get their hands on an affordable robotic arm.

Many students or RMaker labs already have DMM motors, so we chose this solution. Students only need to spend around ¥250 on sheet metal parts and some miscellaneous materials.

Basic function demonstration video: https://www.bilibili.com/video/BV1w6dBYxEPu?vd_source=9fd17ff99dc79491d23776f35bfbd4e1 (opens in a new tab)

This repository is solely for open-sourcing the most original Panther robotic arm. It includes only basic functions in ROS Noetic: gravity compensation mode, drag teaching, and MoveIt trajectory planning based on action communication. (Note: The catesian_plan.cpp in the package calls MoveIt to draw a circle in Cartesian space, which may have some issues and requires your own experimentation.)

Related Information

The name "Panther": The original design of the entire robot is black, hence it is named "Panther" (black panther). "Panthera" refers to the big cats, representing the entire Panther robotic arm open-source project. We hope that everyone can join the Panthera project to create a relatively lower-cost, higher-performance joint motor solution for robotic arms, while also implementing more fun features.

Panthera

In the future, we will migrate Panther from ROS to a pure Python environment for control.

MuJoCo simulation and digital twin

Use of the Pinocchio library

Diffusion policy imitation learning

Reinforcement learning-related content

Collaborative control with Unitree Go2

......

Updates on some subsequent content can be found in the Ragtime-LAB repository Ragtime_Panthera: https://github.com/Ragtime-LAB/Ragtime_Panthera (opens in a new tab)

Current members of Ragtime-LAB: Dear Little One, Little Xiao Chen