The Robot of theseus (TROT)
Read our paper here:
Modular Morphology
As a robotic testbed for biological hypotheses, the limbs of the robot are designed to be highly modular. Each limb can consist of 2 or 3 links without increasing the number of actuators. The length of each link can be adjusted. The direction of each joint can be adjusted.
Low Cost and Open Source
Consisting of 3D printed and off-the-shelf parts, it costs less than $4000 to make your on TROT bot. 99% of the parts are printed on an FDM Prusa printer with standard filament, and 1 part is printed with high-temp resin on the SLA Form3 printer. The legs use our custom 3D printed actuators.
Easily Assembled, Repaired, Customized
With assembly guides, videos, and a quick-start user guide, TROT is accessible to anyone interested in building their own robot. Most repairs require only 20 minutes. You can fork your own controller from our github repository. This makes TROT a great classroom tool, too!
Downloads
CAD Library
Assembly Guide
Paper
BibTex
@article{UrsCarlsonTROT,
author = {{Urs, K. \& Carlson, J.} and … Moore, {Talia Y.}},
year = {submitted},
title = {{The Robot of Theseus}},
journal = {arXiv},
doi = {}
}