An urdf description file of a quadruped robot modeled on mini cheetah. With this you can import the robot into the gazebo environment to realize the control of the robot.
Ubuntu 16.04(ROS Kinetic)
gazebo 8.6
Step:
cd <your_ws>/src
git clone https://github.com/HitSZwang/mini-cheetah-gazebo-urdf
cd ..
catkin_make
source devel/setup.bash
1.If you want to browse the robot model
roslaunch yobo_gazebo demo.launch
2.You can ues the teleop to control the robot
This model was used in champ and achieved good results.
the champ program https://github.com/chvmp/champ
if you use champ_setup_assistant: https://github.com/chvmp/champ_setup_assistant
you should choose the yobotics.urdf