Open Source Skid Steer: Difference between revisions

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(Created page with "=Working Doc= *Working doc mention - [https://docs.google.com/presentation/d/1UWzIanNFRqPP5td7yyYe-ZYHQwtEC-d2u8VBY6wPIfs/edit?slide=id.g36e40919669_0_0#slide=id.g36e40919669_0_0] =Specification= From Avinash Baskaran, Ph.D., OSHWA Postdoctoral Fellow Based on our initial conversation, I identified broad steps for a full-stack, open-source grading autonomy system. The stack is scoped within ROS and “SLAM” framework (Simultaneous Localization And Mapping, whi...")
 
 
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=Working Doc=


*Working doc mention - [https://docs.google.com/presentation/d/1UWzIanNFRqPP5td7yyYe-ZYHQwtEC-d2u8VBY6wPIfs/edit?slide=id.g36e40919669_0_0#slide=id.g36e40919669_0_0]
{| class="wikitable"
|+ Development Template
!
! Description
! Link to Work Product
! %
 
|-
! scope=row |
| '''[[DESIGN]]''' ||  || 
 
|-
! scope=row | 1
| [[Requirements + Value Proposition]] ||  [[Open Source Skid Steer Requirements + Value Proposition]]  || 0
 
|-
! scope=row | 2
| [[Industry_Standards]] || [[Open Source Skid Steer Industry Standards]] || 0
 
|-
! scope=row | 3
| [[Conceptual Design]] || [[Open Source Skid Steer Conceptual Design]] || 0
 
|-
! scope=row | 4
| [[Module Breakdown]] || [[Open Source Skid Steer Module Breakdown]]  || 0
 
|-
! scope=row | 5
| [[3D CAD]] || [[Open Source Skid Steer 3D CAD]] || 0
 
|-
! scope=row | 6
| [[Basic Calculations|Calculations]] || [[Open Source Skid Steer Calculations]] || 0
 
|-
! scope=row | 7
| [[Electronics Design]] || [[Open Source Skid Steer Electronics Design]] || 0
 
|-
! scope=row | 8
| [[Wiring and Plumbing]] || [[Open Source Skid Steer Wiring and Plumbing]] || 0
 
|-
! scope=row | 9
| [[Software]] || [[Open Source Skid Steer Software]] || 0
 
|-
! scope=row |
| '''BILL OF MATERIALS ||  ||
 
|-
! scope=row | 10
| [[Proper BOM|BOM]] || [[Open Source Skid Steer BOM]] || 0
 
|-
! scope=row | 11
| [[vBOM]] || [[Open Source Skid Steer vBOM]] || 0
 
|-
! scope=row | 12
| [[CAM Files]] || [[Open Source Skid Steer CAM Files]] || 0
 
|-
! scope=row | 13
| [[Cut List]] || [[Open Source Skid Steer Cut List]] || 0
 
|-
! scope=row |
| '''BUILD''' || ||
 
|-
! scope=row | 14
| [[Build Instructions]] || [[Open Source Skid Steer Build Instructions]] || 0
 
|-
! scope=row | 15
| [[Fabrication Drawings]] || [[Open Source Skid Steer Fabrication Drawings]] || 0
 
|-
! scope=row | 16
| [[Exploded Part Diagram]] || [[Open Source Skid Steer Exploded Part Diagram]] || 0
 
|-
! scope=row | 17
| [[Production Engineering]] || [[Open Source Skid Steer Production Engineering]] || 0
 
|-
! scope=row |
| '''LIFECYCLE DESIGN''' || ||
 
|-
! scope=row | 18
| [[Build Pictures and Video]] || [[Open Source Skid Steer Build Pictures and Video]] || 0
 
|-
! scope=row | 19
| [[Data Collection]] || [[Open Source Skid Steer Data Collection]] || 0
 
|-
! scope=row | 20
| [[Future Work]] || [[Open Source Skid Steer Future Work]] || 0
 
|-
! scope=row | 21
| [[Troubleshooting and Repair]] || [[Open Source Skid Steer Troubleshooting and Repair]] || 0


=Specification=
|}


From Avinash Baskaran, Ph.D., [[OSHWA]] Postdoctoral Fellow


Based on our initial conversation, I identified broad steps for a full-stack, open-source grading autonomy system. The stack is scoped within ROS and “SLAM”  framework (Simultaneous Localization And Mapping, which was a major focus of my PhD):
=Team=
#Drone-based multiview reconstruction using ROS + openMVG/MVS for topographical mapping
*Dr. Jakubowski - marcin@opensourceecology.org
#Open hardware rotary laser level + machine-mounted receiver for fine grading
*Dr. Mota - catarinamfmota@gmail.com - https://www.openbuildinginstitute.org/about-who-we-are/
#Real-time toolpath planning using RViz + Open3D + RTAB-Map
*Alexandria Little - alexa@alexalittle.me
*Eduardo Parada - https://about.me/edanpari - eduardo@farmy.earth
*Dr. Pearce - https://www.eng.uwo.ca/electrical//faculty/pearce_j/index.html
*Dr. Baskaran - https://oshwa.org/team/avinash-baskaran/ avinash@oshwa.org
*Chas Murillo - openhousepartybychasmurillo@gmail.com
*James Sperry - james@jamessperry.com
*Colby Thomson - Power Cubes, alternative fuels, software - colbyt@gmail.com


I plan to use the BeagleBone AI-64, an open-source platform to control the skid-steer, is this acceptable?
=Working Doc=
Step 1 above is optional when elevation changes are minor compared to the receiver height, but I think it’s a valuable addition for enabling full autonomy. I’ve also received a high-fidelity SparkFun RTK GPS module from Nathan Seidle, which I’ll use to validate and calibrate the localization. Overall this approach balances cost, industry-aligned best practices, and high RoI. It also generalizes to applications at PARC, like autonomous crop and livestock management and hydrology.


Looking forward to sharing and discussing initial results soon.
*Working doc mention - [https://docs.google.com/presentation/d/1UWzIanNFRqPP5td7yyYe-ZYHQwtEC-d2u8VBY6wPIfs/edit?slide=id.g36e40919669_0_0#slide=id.g36e40919669_0_0]

Latest revision as of 17:02, 8 April 2026

Development Template
Description Link to Work Product %
DESIGN
1 Requirements + Value Proposition Open Source Skid Steer Requirements + Value Proposition 0
2 Industry_Standards Open Source Skid Steer Industry Standards 0
3 Conceptual Design Open Source Skid Steer Conceptual Design 0
4 Module Breakdown Open Source Skid Steer Module Breakdown 0
5 3D CAD Open Source Skid Steer 3D CAD 0
6 Calculations Open Source Skid Steer Calculations 0
7 Electronics Design Open Source Skid Steer Electronics Design 0
8 Wiring and Plumbing Open Source Skid Steer Wiring and Plumbing 0
9 Software Open Source Skid Steer Software 0
BILL OF MATERIALS
10 BOM Open Source Skid Steer BOM 0
11 vBOM Open Source Skid Steer vBOM 0
12 CAM Files Open Source Skid Steer CAM Files 0
13 Cut List Open Source Skid Steer Cut List 0
BUILD
14 Build Instructions Open Source Skid Steer Build Instructions 0
15 Fabrication Drawings Open Source Skid Steer Fabrication Drawings 0
16 Exploded Part Diagram Open Source Skid Steer Exploded Part Diagram 0
17 Production Engineering Open Source Skid Steer Production Engineering 0
LIFECYCLE DESIGN
18 Build Pictures and Video Open Source Skid Steer Build Pictures and Video 0
19 Data Collection Open Source Skid Steer Data Collection 0
20 Future Work Open Source Skid Steer Future Work 0
21 Troubleshooting and Repair Open Source Skid Steer Troubleshooting and Repair 0


Team

Working Doc

  • Working doc mention - [1]
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