Open Source Skid Steer: Difference between revisions

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{| 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=
=Specification=
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Looking forward to sharing and discussing initial results soon.
Looking forward to sharing and discussing initial results soon.
=Systems=


=Working Doc=
=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]
*Working doc mention - [https://docs.google.com/presentation/d/1UWzIanNFRqPP5td7yyYe-ZYHQwtEC-d2u8VBY6wPIfs/edit?slide=id.g36e40919669_0_0#slide=id.g36e40919669_0_0]

Revision as of 20:10, 8 August 2025

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


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):

  1. Drone-based multiview reconstruction using ROS + openMVG/MVS for topographical mapping
  2. Open hardware rotary laser level + machine-mounted receiver for fine grading
  3. Real-time toolpath planning using RViz + Open3D + RTAB-Map

I plan to use the BeagleBone AI-64, an open-source platform to control the skid-steer, is this acceptable? 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.

Systems

Working Doc

  • Working doc mention - [1]
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