This repository contains the ros2-control based controllers for the quadruped robot. Todo List: Video for Unitree Guide Controller: Video for OCS2 Quadruped Controller: Video for RL Quadruped Controller: 1. Quick Start. Please use C++ Simulation in this Mujoco Simulation for more robot models and contact sensor.

CHAMP is an open source development framework for building new quadrupedal robots and developing new control algorithms. The control framework is based on "Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot" .

My Quadruped Robot project with ROS. I wanted to build a Spot-inspired robot during my winter and summer break 2024. This repository will contain the source code of this project . What is different from other Spot-Micro open source projects? The quadruped was entirely redesigned.

HyperDog is an open-source platform for quadruped robotic software development, which is based on Robot Operating System 2 (ROS2) and micro-ROS. Moreover, the HyperDog is a quadrupedal robotic dog entirely built from 3D printed parts and carbon fiber, which allows the robot to have light weight and good strength.

2023年6月22日 · We developed a quadruped robot using ros2 (galactic). The full option version focuses on smart home features, and the developer version invites you to contribute ideas and together develop the robot’s features through git…

2020年7月27日 · There’s a setup assistant that allows users to configure newly built robots by using URDF or manually feeding the translation between joints. If you’re interested to check out the features, there are demos available without the need of a physical robot: GitHub - chvmp/champ: 𓃡 Quadruped Robot based on MIT Cheetah I. Here’s the robot walking:

本项目支持在 Unitree A1 和 DeepRobotics Lite3 上进行测试。如需对 MPC 和 WBC 算法进行微调，可以调整相应参数（如 quadruped/src/controllers/wbc/task_set 中的 KP 和 KD 或 WBC 运动控制器中的权重）。

2022年9月19日 · HyperDog is an open-source platform for quadruped robotic software development, which is based on Robot Operating System 2 (ROS2) and micro-ROS. Moreover, the HyperDog is a quadrupedal...

2022年9月19日 · HyperDog is an open-source platform for quadruped robotic software development, which is based on Robot Operating System 2 (ROS2) and micro-ROS. Moreover, the HyperDog is a quadrupedal robotic dog entirely built from 3D printed parts and carbon fiber, which allows the robot to have light weight and good strength.

2024年8月19日 · The four joint trajectory controllers would ideally be synchronized, as a quadrupedal robot needs for proper balance, because they are all controlled by the footpath generator.