MIT mini cheetah use qt simulation env, we extract the algorithm and do the simulation use ros and pybullet env. This is easy to deploy the system into different custom robot or plantform, and also easy to learn the algorithm.
Ubuntu 18.04, ROS Mellodic
use Logitech gamepad to control robot
git clone https://github.com/Derek-TH-Wang/gamepad_ctrl.git
run the controller in simulator:
roslaunch quadruped_ctrl quadruped_ctrl.launch
you can switch the gait type:
rosservice call /gait_type "cmd: 1"
gait type:
0:trot
1:bunding
2:pronking
3:random
4:standing
5:trotRunning
6:random2
7:galloping
8:pacing
9:trot (same as 0)
10:walking
11:walking2