D'Kitty

D'Kitty is platform introduced by project-ROBEL (RObotics BEnchmarks for Learning) for studying and benchmarking locomotion. It is a twelve degree of freedom quadruped capable of agile locomotion. It consists of four identical legs mounted symmetrically on a square base. The feet are simple 3d printed parts with rubber ends. D'Kitty is symmetric along all three axes and can also walk normally when upside down.

The Assembled version of the D'Kitty platform ships completely assembled with the servos ID'ed, it is ready out of the box. The kit version of the D'Kitty contains the Robotis parts necessary for the build, you will have to supply the 3D printed / Laser cut parts.

Walking in clutter A Sim2Real policy trained via Natural Policy Gradient on MuJoCo simulation with randomized perturbations learns to walk in clutter and step over objects

Walking through obstacles A Sim2Real policy trained via Natural Policy Gradient on MuJoCo simulation with randomized perturbations learns to walk in clutter and step over objects

Gravel & branches A Sim2Real policy trained via Natural Policy Gradient on MuJoCo simulation with randomized height field learns to walk outdoors over gravel and branches

Slope & grass A Sim2Real policy trained via Natural Policy Gradient on MuJoCo simulation with randomized height field learns to handle moderate slopes

Avoid Moving Obstacles Policy trained via Hierarchical Sim2Real learns to avoid a moving block and reach the target (marked by the controller on the floor)

Push to Moving Goal Policy trained via Hierarchical Sim2Real learns to push block towards a moving target (marked by the controller in the hand)

Co-ordinate Policy trained via Hierarchical Sim2Real learns to coordinate tow D'Kitties to push a heavy block towards a target (marked by two + signs on the floor)

Includes:

DYNAMIXEL XM430-W210-R x 12

DYNAMIXEL U2D2 x 1

6 Port RX/EX Power Hub x 1

HN12-I101 Set x 12

FR12-H103GM Set x 12

FR12-S102k Set x 9

Turbo Lock

Nuts & Bolts for assembly

Please Note: D'Kitty will require additional 3D printed / laser cut pieces to assemble, for more information please refer to the D'Kitty Parts and Assembly Files

Documentation:
Pre-Build Instructions

Getting Started Guide

Assembly Instructions