OROHA is an open-source robot hardware architecture. I created this blog so that anyone can build a mobile robot. There is a lot of open-source robot hardware, but most are for indoor use and have a low payload. OROHA is designed for outdoor use and has a loading weight of over 100 kg. Since most of them are designed with easy-to-obtain standard products, anyone is expected to make them easily.
In this blog, as of February 2023, information about hardware design production, sensors, ROS, etc. of OROHA V1 is shared. Since V1 was a prototype, some things needed to be improved after production. The design of V2 is complete and will be published soon.
The design concept of OROHA V1 and V2 is similar. The body is made of an aluminum profile and driven by a skid-skier method. Two motors are used, V1 uses DC motor and V2 uses BLDC motor. Motor power is transmitted to the wheels through timing pulleys and belts.
Obstacle avoidance and surrounding mapping are possible using ultrasonic sensors and lidar sensors. The source code is also posted.
V1 used ROS for mapping, and Python and LabVIEW were used for data communication, control, and HMI production. In V2, I plan to use ROS in more areas.
Many researchers will benefit from the information in this blog.
Please contact me if you want to build an OROHA, need help making it, or need to change the design.
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