Evaluation Of OSMC Open Source Motor Driver for Reproducible Robotics Research

Elijah Alabi; Fanta Camara; Charles Fox

Evaluation Of OSMC Open Source Motor Driver for Reproducible Robotics Research

Elijah Alabi, Fanta Camara, Charles Fox

Institute for Safe Autonomy

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

There is a growing need for open source hardware (OSH) subcomponents to be evaluated. Most robotic systems are ultimately based upon motors which are driven to move either to certain positions, as in robot arms, or to certain velocities, as in wheeled mobile robots. We evaluate a state of the art OSH driver, OSMC, for such systems, and contribute new Open Source Software to control it. Our findings suggest that OSMC is now mature enough to replace closed-source motor drivers in medium-size robots such as agri-robots and last mile delivery vehicles.

Original language	English
Title of host publication	Towards Autonomous Robotic Systems, 24th Annual Conference, TAROS 2023 Cambridge, UK, September 13–15, 2023
Subtitle of host publication	Proceedings
Publisher	Springer Science and Business Media Deutschland GmbH
Publication status	Published - 15 Sept 2023
Event	24th Towards Autonomous Robotic Systems Conference (TAROS) - Cambridge, United Kingdom Duration: 13 Sept 2023 → 15 Sept 2023 https://taros-conference.org/

Conference

Conference	24th Towards Autonomous Robotic Systems Conference (TAROS)
Abbreviated title	TAROS
Country/Territory	United Kingdom
City	Cambridge
Period	13/09/23 → 15/09/23
Internet address	https://taros-conference.org/

Bibliographical note

This is an author-produced version of the published paper. Uploaded in accordance with the University’s Research Publications and Open Access policy.

Access to Document

TAROS_2023_Alabi_et_al_Final
This is an author-produced version of the published paper. Uploaded in accordance with the University’s Research Publications and Open Access policy.
Accepted author manuscript, 1.29 MBLicence: CC BY

https://tarosconferenceorg.files.wordpress.com/2023/09/taros2023_all_abstracts.pdf

Cite this

Alabi, E., Camara, F., & Fox, C. (2023). Evaluation Of OSMC Open Source Motor Driver for Reproducible Robotics Research. In Towards Autonomous Robotic Systems, 24th Annual Conference, TAROS 2023 Cambridge, UK, September 13–15, 2023: Proceedings Springer Science and Business Media Deutschland GmbH. https://tarosconferenceorg.files.wordpress.com/2023/09/taros2023_all_abstracts.pdf

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title = "Evaluation Of OSMC Open Source Motor Driver for Reproducible Robotics Research",

abstract = "There is a growing need for open source hardware (OSH) subcomponents to be evaluated. Most robotic systems are ultimately based upon motors which are driven to move either to certain positions, as in robot arms, or to certain velocities, as in wheeled mobile robots. We evaluate a state of the art OSH driver, OSMC, for such systems, and contribute new Open Source Software to control it. Our findings suggest that OSMC is now mature enough to replace closed-source motor drivers in medium-size robots such as agri-robots and last mile delivery vehicles.",

author = "Elijah Alabi and Fanta Camara and Charles Fox",

note = "This is an author-produced version of the published paper. Uploaded in accordance with the University{\textquoteright}s Research Publications and Open Access policy.; 24th Towards Autonomous Robotic Systems Conference (TAROS), TAROS ; Conference date: 13-09-2023 Through 15-09-2023",

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booktitle = "Towards Autonomous Robotic Systems, 24th Annual Conference, TAROS 2023 Cambridge, UK, September 13–15, 2023",

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Alabi, E, Camara, F & Fox, C 2023, Evaluation Of OSMC Open Source Motor Driver for Reproducible Robotics Research. in Towards Autonomous Robotic Systems, 24th Annual Conference, TAROS 2023 Cambridge, UK, September 13–15, 2023: Proceedings. Springer Science and Business Media Deutschland GmbH, 24th Towards Autonomous Robotic Systems Conference (TAROS), Cambridge, United Kingdom, 13/09/23. <https://tarosconferenceorg.files.wordpress.com/2023/09/taros2023_all_abstracts.pdf>

Evaluation Of OSMC Open Source Motor Driver for Reproducible Robotics Research. / Alabi, Elijah; Camara, Fanta; Fox, Charles.
Towards Autonomous Robotic Systems, 24th Annual Conference, TAROS 2023 Cambridge, UK, September 13–15, 2023: Proceedings. Springer Science and Business Media Deutschland GmbH, 2023.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

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T1 - Evaluation Of OSMC Open Source Motor Driver for Reproducible Robotics Research

AU - Alabi, Elijah

AU - Camara, Fanta

AU - Fox, Charles

N1 - This is an author-produced version of the published paper. Uploaded in accordance with the University’s Research Publications and Open Access policy.

PY - 2023/9/15

Y1 - 2023/9/15

N2 - There is a growing need for open source hardware (OSH) subcomponents to be evaluated. Most robotic systems are ultimately based upon motors which are driven to move either to certain positions, as in robot arms, or to certain velocities, as in wheeled mobile robots. We evaluate a state of the art OSH driver, OSMC, for such systems, and contribute new Open Source Software to control it. Our findings suggest that OSMC is now mature enough to replace closed-source motor drivers in medium-size robots such as agri-robots and last mile delivery vehicles.

AB - There is a growing need for open source hardware (OSH) subcomponents to be evaluated. Most robotic systems are ultimately based upon motors which are driven to move either to certain positions, as in robot arms, or to certain velocities, as in wheeled mobile robots. We evaluate a state of the art OSH driver, OSMC, for such systems, and contribute new Open Source Software to control it. Our findings suggest that OSMC is now mature enough to replace closed-source motor drivers in medium-size robots such as agri-robots and last mile delivery vehicles.

M3 - Conference contribution

BT - Towards Autonomous Robotic Systems, 24th Annual Conference, TAROS 2023 Cambridge, UK, September 13–15, 2023

PB - Springer Science and Business Media Deutschland GmbH

T2 - 24th Towards Autonomous Robotic Systems Conference (TAROS)

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