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Gopalkrishna Advanced Rural Research Foundation

(Dr. APJ Abdul Kalam Research Zero Funding Initiative)

GARRF Multi-Domain Robotics Studio

Choose Platform or Auto-Assemble

Select what you want to build or run an existing GARRF-generated Python script:

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Run it directly in 3D. ⚠️ Notice: Input file must be generated from GARRF. Do not upload arbitrary code or external files; only GARRF metadata scripts will execute.
1. Civil Masonry Robot
High-Torque Brick Stacking
2. Surgical Console
Micro-Wrist Laparoscopy
3. Service Base
360° LiDAR Floor Cleaner
4. Quadruped Dog
Dynamic Trot Locomotion
5. Articulated Biped Humanoid
20-DOF ZMP Dynamic Walking Biped
Boy
Dhoti-Kurta, Zari Angavastram
Girl
Pleated Silk Saree & Pallu
🛠️ ASSEMBLY GUIDE (DRAG TO MOVE)
STAGE 1 / 6: FOUNDATIONAL STRUCTURE 1 of 6
Shantanu Bro: "Namaste Aryan! Walk to the store to fetch the foundational part."
Civil Masonry Robotic System
Autonomous Operation (Observation Mode)
📊 2026 Commercial Specifications & Build Cost
⚙️ Active End-Effector
🕹️ Actuator Kinematic Jog
🏭 Dynamic Task Execution

📚 Engineering Theory: Autonomous Service Base vs. Surgical Console

Comparative breakdown of kinematics, control methods, and precision standards:

Architecture Parameter Autonomous Service Base (Cleaning/Assist) Medical / Surgical Console (da Vinci)
Primary Mission Macro-navigation, floor cleaning, moving objects, and room delivery. Sub-millimeter human tissue incision, suturing, and laparoscopy.
Control Mode Autonomous SLAM: Navigates using LiDAR, wheel encoders, and path planning. Master-Slave Teleoperation: Surgeon controls hand grips; never moves on its own.
Target Precision ± 2 to 10 mm: Wheel slip, carpet friction, and obstacle thresholds. ± 0.005 mm (Sub-millimeter): Tremor-filtering and cable capstans.
Kinematic Core Differential Drive Base: Steerable wheels with an upper assistive arm. Remote Center of Motion (RCM): Fixed incision entry point pivot.
Drive Mechanics High-torque planetary BLDC/DC motors and timing belts. Tungsten cables & capstan drums with zero backlash.
1. Mechanical Kinematics (RCM vs. Planar Mobility):
The Surgical Console utilizes a dual-parallelogram Remote Center of Motion (RCM) linkage. This ensures that the instrument shaft pivots strictly around the 8mm trocar entry port in the abdominal wall, preventing incision tearing. In contrast, the Service Base uses a planar differential drive AGV platform designed for broad room traversal.
2. Teleoperation vs. Autonomous SLAM:
Surgical robots are master-slave telemanipulators translating human hand gestures into micro-movements inside the body with tremor filtering. Service robots operate completely untethered, generating 2D occupancy grids via 360° LiDAR to clean floors or carry cups autonomously.
Real-World Kinematic Directives

Full Python Traverse Path Guide

In the physical world, robots execute trajectory motions through Python motor drivers and ROS2 / MoveIt controllers. Run this script in any Python IDE (VS Code, PyCharm, Jupyter) to plot and direct the 3D traverse path!

# Generating Python file...