Boston Dynamics Atlas Robot (DRC Trials Version)

This is a low poly model of the Boston Dynamics Atlas robot as used in the DARPA Robotics Challenge Trials in December 2013 in Homestead, Miami. It is based off the model available as open source via the drcsim project (https://bitbucket.org/osrf/drcsim) under a Apache 2.0 license.

Instructions

The model is based on the meshes and URDF model available as open source on Bitbucket (see atlas_description).

The following steps were taken to generate the model from the original URDF:

• Generate simplified convex hull models for most links using MeshLab
• Special treatment for fingers, making distal links of irobot hand fingers longer, so they do not float in midair
• Special treatment for upper torso, generating multiple smaller convex hulls based on vertex selection in Blender
• Edit URDF model to use manually determined fixed joint angles and use simplified meshes
• Convert URDF to Collada using collada_urdf
• Import Collada to Blender, add cube geometry in some places (feet, hands) to close gaps. Export to STL.
• Run STL through netfabb cloud service for repair
• Generate ascii stl using Blender and add author notice in first line
• Upload to thingiverse

Scaling the model to 60mm and then printing laying on the back with a Replicator 2 gave satisfactory results. Thanks to FabLab Darmstadt for providing the opportunity to experiment with this.