"Naughty boy Pointfoot" 🤖

Bilibili | Nabo | 简体中文

demo.mp4

Introduction

• Nabo Pointfoot is a pointfoot bipedal robot simulation framework in MuJoCo, constructed fully with C++.

• Nabo Pointfoot is built on top of nabo, which is a bipedal robot framework for a 12DOF robot model.

• MPC+WBIC balence controller. The controller code is isolated from simulation, which is elegant.

• Nabo Pointfoot walks with the height of 0.45m, maximux walking speed 0.95m/s.

Features

• 💻Pure C++
• ⚡️Computing Efficient, formulating QP with eiquadprog
• 🤹Interactive MuJoCo GUI
• 📝Rich code comments but most in Chinese, I apologize for those who don't understand Chinese

Size Comparison with LIMX P1 & Unitree H1 🤖

Usage

1. This project was developed on Ubuntu20.04, g++/gcc version 9.4.0.
2. $ git clone https://github.com/SeaHI-Robot/Nabo_Pointfoot_Bipedal_Robot.git, then cd to this repo's directory.
3. $ ./make_and_run to compile both the controller and the simulation, then start simulation with the compiled controller loaded.
4. When both codes in nabo_core/ and nabo_mujoco/ are compiled，simply do $ ./run_sim.sh to only start the simulation without any compilation.
5. Edit nabo_mujoco/000.ini to adjust the parameters for tuning. nabo_mujoco/zzz.txt stores the log file during simulation when the log flag is turned on.
6. Pitch is currently poorly controlled at close to zero speed and will stabilize with a bias. Stable yaw angle control cannot be achieved for the time being.

In the MuJoCo GUI:

Press:

• w/s : change command speed in x
• a/d : change command speed in y
• j/l : change command angular speed in z
• x: clear all speed command
• backspace: reset
• space: pause
• f: toggle visualization of contact force
• z: toggle log flag

Discussion

If U have any problem, please start an Issue, or join QQ group 609601974.

Acknowledgement

1. nabo,

2. MIT mini-cheetah,

3. MuJoCo Simulator,

4. and SUSTech🌈.