quadruped_inno

Simulation of quadruped for Thesis Project

Kinematics Scheme

How to run

CoM control (feet are fixed on the ground)

If you want to use ROS simulation:

roslaunch quadruped_control robot_torque(pos)_control.launch

But make sure that flag "use_ros" in file /quadruped_control/scripts/control_body_P_RPY.py is equal to "True"

If you want to use the real hardware with TMOTORS:

python3 control_body_P_RPY.py

But make sure that flag "use_ros" in file /quadruped_control/scripts/control_body_P_RPY.py is equal to "False"

Also, after execution, the program will create csv file which you can analyze with help of cvs_analysis.py file (lies in /quadruped_control/scripts/)

...update...

<TO DO>

• identificate robot parameters (Is, masses, etc)
• MPC for walking