Abstract
In this chapter we present a tutorial for ClegS, a ROS meta-package for the development of C-legged robots. This is the first meta-package in ROS dedicated to develop robots with this special legs, and allows the user to experiment with different morphologies of these C-legged robots (quadruped, hexapod, octapod). ClegS has been developed to be plug-and-play to the user, he only has to create his walking mode algorithm and the ClegS sets the controllers to realize the task with the best performance. ClegS is portable and is ready to control simulated and real robots. The chapter will explain in detail how the user can choose among different generic models of robots that are included in the meta-package or create new robots. The chapter also describes the software architecture of ClegS and suggest further levels of customization for experienced ROS users. Finally, the advantages and potential of ClegS are demonstrated in a case of study which a C-legged robot is designed and deployed from scratch.
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Acknowledgements
Work result of research activities carried out at the Centre for Automation and Robotics, CAR (UPM-CSIC), within the Robotics and Cybernetics research group (RobCib). Supported by the RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub, S2018/NMT-4331, and the UPM Program project VJIDOCUPM18JCG.
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De León, J., Cebolla, R., del Cerro, J., Barrientos, A. (2021). ClegS: A Meta-Package to Develop C-Legged Robots. In: Koubaa, A. (eds) Robot Operating System (ROS). Studies in Computational Intelligence, vol 895. Springer, Cham. https://doi.org/10.1007/978-3-030-45956-7_10
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