Damiao Omnidirectional AGV
4-wheel omnidirectional mobile base with mecanum wheels. Move laterally, diagonally, and rotate in place — no turning radius constraint. Mount OpenArm or DK1 on top for mobile manipulation.
True Omnidirectional Motion
The Damiao AGV (达妙) uses a 4-wheel omnidirectional (4WS4WD) configuration with mecanum or omni wheels. It can translate laterally, move diagonally, and rotate in place — all without a turning radius. This makes it ideal for manipulation tasks in cluttered environments, narrow lab aisles, and mobile data collection setups where precise base positioning matters.
Mobile Manipulation
Mount an OpenArm 101 or DK1 bimanual kit on the top plate. Both the AGV agent and arm agent register simultaneously in a Fearless Platform session for synchronised teleoperation.
No Firmware Modification
The dami_agent.py Python bridge encodes platform commands as standard DBUS RC frames — works with stock AGV firmware over UART5.
Safe Auto-Stop
Built-in 300 ms command timeout: if the platform connection drops, the AGV automatically stops. On shutdown, three center-position frames are sent before the serial port closes.
Setup Journey
From unboxing to driving from your browser. Follow each step in order.
Unboxing & Safety
Team lift required — inspect wheels, check workspace clearance
Battery Charging & Power-On
Charge battery pack to full, inspect power connections
Software & ROS2 Navigation Stack
Install pyserial, dami_agent, and optional ROS2 nav2 packages
Teleoperation
Connect joystick or keyboard; drive from browser via Fearless Platform
Autonomous Navigation Setup
Configure nav2 costmap, SLAM, and waypoint following
Mounting a Robot Arm
Bolt mounting plate, route cables, register arm + AGV in one platform session
Hardware at a Glance
Technical Resources
Community
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