URDF description for the Upkie wheeled biped.
The description can be loaded directly in various Python robotics frameworks, for instance:
import upkie_description
robot = upkie_description.load_in_pinocchio()Check out the Python readme for more details.
| Joint | Limit | Value (±) | Unit | Why? |
|---|---|---|---|---|
| Hip | Position | 0.2 | rev | Cables fully stretched |
| Hip | Velocity | 2 | rps | Conservative, maximum rated velocity would be around 6 rps |
| Hip | Torque | 10 | Nm | From the qdd100 spec |
| Knee | Position | 0.4 | rev | Wheels touching hip actuators. |
| Knee | Velocity | 2 | rps | Conservative, maximum rated velocity would be around 6 rps |
| Knee | Torque | 10 | Nm | From the qdd100 spec |
| Wheel | Position | - | - | - |
| Wheel | Velocity | 8 | rps | Conservative, maximum rated velocity is 125 rps |
| Wheel | Torque | 1 | Nm | Conservative, 60% of peak torque |
- Upkie: main repository for the robot's hardware and software
- 3D printed parts: CAD files and add-ons for the robot
Upkie's torso derives from the chassis of the mjbots quad. The Apache 2.0 license applies to all files in this repository, to the exception of the wheel_tire mesh which is under the CC BY 4.0 license. Meshes from mjbots are also Apache 2.0. See the files in their respective folders for more details.