jelly_core

Software for controlling jelly robot with ros

bringup_jelly

• used to bringup robot

control_jelly

• used for implementing control

sensors_jelly

• used for communicating between motors, motor controllers, IMU

Highest Layer

Controller

• Subscriptions
  • joint state of robot for each leg (joint positions a total of 12, 3 for each leg)
  • center of mass state from IMU (orientation, velocity, anglar velocity)
• Publications
  • joint forces
  • joint positions
  • Note: a service or a flag in the command should allow the higher level controller switch between position and force control

Leg Level

• leg has knowlege of the actuator gear ratios
• publishes joint state of leg(joint position and joint velocity), by taking position and veloctiy readings from motor and converting to joint readings
• subscribes to command topic for leg that controls either the force or position as specified by the high level controller
  • converts joint torques to actuator torques

Motor level(but can be in the same node as the leg node)

• reads motor position and velocity for Odrive
• takes command motor torque and converts to motor current and write to Odrive

Joint naming conventions

• Each leg has a ID as well as a corresponding number ==> ID(#)
  • FR(0) - Front Right
  • FL(1) - Front Left
  • RR(2) - Rear Right
  • RL(3) - Rear Left

Each Leg has a hip, upper_leg, lower_leg joints.

The joints for the front right leg is

• FR_hip
• FR_upper_leg
• FR_lower_leg

ODrive to Joint Mapping

ODrive serial IDs will be parameters in the form od_FL_leg_id = 207C37823548.

• od_FL_leg
  • FL_upper_leg
  • FL_lower_leg
• od_FR_leg
  • FR_upper_leg
  • FR_lower_leg
• od_BL_leg
  • BL_upper_leg
  • BL_lower_leg
• od_BR_leg
  • BR_upper_leg
  • BR_lower_leg
• od_F_hip
  • FL_hip
  • FR_hip
• od_B_hip
  • BL_hip
  • BR_hip