This repository hosts the open-source hardware and software artifacts from the HARPER Project. The documentation for the project is hosted at vassar-irrl.github.io/harper.
HARPER stands for Humanoid Autonomous Robotic Platform for Experimental Research. HARPER was started as a long-term project in the Interdisciplinary Robotics Research Lab (IRRL) and the Cognitive Science Department at Vassar College. The main objective of this project is to create a low-cost 3D printed humanoid robot platform for researchers in behavioral and cognitive science and for hobbyist use.
This repository is organized into separate folders for hardware, software, documentation, and simulation. Below is what each top-level directory contains. Each folder also contains detailed README relevant for the specific package.
| Folder | Description |
|---|---|
harper_description/ |
ROS 2 package with the robot model: URDF/xacro, meshes, launch files, and RViz config. Start here to visualize the arm. (WIP) |
harper_control/ |
Low-level control software for driving motors and reading joint feedback. (WIP) |
harper_motion/ |
Motion planning, trajectories, and higher-level arm commands. (WIP) |
harper_simulation/ |
Simulation environments for testing without hardware. (WIP) |
harper_print_files/ |
3D-printable files for fabricating the arm's mechanical parts. (WIP) |
harper_tests/ |
Integration and regression tests across packages. (WIP) |
docs/ |
Docusaurus site source: builds the project documentation hosted at vassar-irrl.github.io/harper. |
Issues and pull requests are welcome. See CONTRIBUTING for how to get started, what we're looking for, and PR guidelines.
This repository uses different licenses for software and hardware:
| Artifact | License | File |
|---|---|---|
| Software and documentation | Apache License, Version 2.0 | LICENSE |
| Hardware designs (print files, mechanical designs) | CERN Open Hardware Licence Version 2 – Strongly Reciprocal (CERN-OHL-S) | harper_print_files/LICENSE |
You are free to use, modify, and distribute each artifact under the terms of its respective license.