Open Dynamic Robot Initiative

Open Dynamic Robot Initiative illustration

The Open Dynamic Robot Initiative (ODRI) is a multi-institutional collaboration about building open-source dynamic robot platforms at low cost. The low cost is achieved by using 3D printing techniques and off-the-shelf components. Multiple robots have been developed including manipulator platforms, quadrupeds and a biped. The instructions for buildings the robots can be found on GitHub and a forum is used to answer questions.


Selected publications

  1. E. Daneshmand, M. Khadiv, F. Grimminger, L. Righetti, "Variable Horizon MPC with Swing Foot Dynamics for Bipedal Walking Control," IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 2349–2356, Apr, 2021.
  2. F. Grimminger, A. Meduri, M. Khadiv, J. Viereck, M. Wüthrich, M. Naveau, V. Berenz, S. Heim, F. Widmaier, T. Flayols, J. Fiene, A. Badri-Spröwitz, L. Righetti, "An Open Torque-Controlled Modular Robot Architecture for Legged Locomotion Research," IEEE Robotics and Automation Letters, vol. 5, no. 2, pp. 3655–3662, Apr, 2020.