Robotcup-Home

A home service robot designed during undergraduate studies, featuring mechanical hardware and 3D modeling.

Wheeled
No license: all rights reserved by the creator
3D printable

Suggested by Robotheca, created by @baozaohahage (opens in a new tab), from github.com/baozaohahage/Robotcup-Home (opens in a new tab). Pinned to commit 6f952a0 (opens in a new tab).

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Hardware license: No license
Software license: No license
Commercial use: Unknown

No license is stated for part of this robot.

The creator chose the hardware and software licenses on Robotheca; the repository has no license file for them yet.

This repository has no photo of the robot yet.

What it can do

Written by Robotheca from the project's documents.

Moves on a wheeled base with four Mecanum wheels
Carries a pan-tilt camera gimbal for visual tracking
Uses a 3D depth camera for environment mapping and obstacle avoidance
Supports autonomous navigation in a mapped indoor space
Can be teleoperated via a gamepad or keyboard
Provides a web interface for remote monitoring and control

Bill of materials

This repository has no parts list Robotheca can read yet.

Build guide

The creator's guide is written in Chinese. It has no license, so all rights stay with the creator: Robotheca doesn't show it here or translate it, and gives its own notes about the robot instead.

Read the creator's guide Ask the creator on GitHub

Wiring and electronics

Notes written by Robotheca from the project's documents.

Main parts

Raspberry Pi 4 as the main controller
NVIDIA Jetson Nano for real-time vision processing
Four Mecanum wheel motors with motor drivers
RPLIDAR A1 for 2D laser scanning
Pan-tilt servo mechanism for the camera gimbal
Gamepad controller for manual driving
Power distribution board and 12 V battery pack

Connections

Raspberry Pi 4 connected to Jetson Nano via USB
Jetson Nano communicates with RPLIDAR A1 via USB
Motor drivers wired to Raspberry Pi 4 GPIO for control
Pan-tilt servos connected to a servo controller board
Gamepad connected to Raspberry Pi 4 via USB
Power distribution board distributes 12 V to motors and electronics

Project information

Difficulty: Intermediate
Estimated cost: Not stated
Buildability: 20/100Incomplete documentation
Parts: –
Tools: 3D printer, CAD software (SolidWorks), laser cutter or CNC machine (for aluminu

Buildability20/100

Incomplete documentation

How complete the published files are for rebuilding this robot, measured by Robotheca at commit 6f952a0. It isn't a rating of the robot.

3D and CAD files10/20
3 CAD source files.
Add the parts to print (STL or 3MF files).
Robot description0/15
No URDF.
Add a URDF: the robot can then be seen in 3D and tried in the browser.
Parts list0/20
No parts list in the repository or linked.
Most points to gain: Link to your parts list, or add it to the repository (a CSV or a Markdown table) with quantities, prices and where to buy each part.
Software5/15
Instructions to install or run it.
Link to your code, or add it to this repository. Say which software framework it uses (ROS 2, LeRobot, Arduino…).
Documentation5/15
README of 176 characters with 15 pictures; 0 build steps.
Write a README of at least 1,500 characters: what the robot does and how to build it. Split the build into at least 3 steps.
Simulation0/5
No simulation files.
Add a simulation model (MuJoCo, Gazebo, Webots or Isaac).
Licenses0/10
Hardware: no license; software: no license.
Add a license for the hardware (e.g. CERN-OHL-S-2.0 or CC-BY-SA-4.0). Add a license for the software (e.g. MIT or Apache-2.0).

Software

Framework: Not stated
License: NONE

How to run it

Written by Robotheca from the project's documents.

Install Ubuntu and ROS on the Raspberry Pi 4 and Jetson Nano
Install required ROS packages for navigation and vision
Flash firmware to motor drivers if needed
Start the RPLIDAR driver node on the Raspberry Pi 4
Launch the RealSense camera node on the Jetson Nano
Run the navigation stack for autonomous movement
Connect the gamepad and start the teleoperation node

Robotheca doesn't review code. Read it before running it.

Project files

Every file of the project: code, CAD, electronics, guides, at commit 6f952a0.

Community

Questions and improvements go to the creator's repository.

Photo