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dog_2021's Introduction

Quadruped Robot for ROBOCON 2021

  • A 12-DOF force control quadruped robot based on QP
  • deployed In both Gazebo simulation and real world

image image

Dependencies

  • Ros Melodic
  • PYTHON: Numpy, OSQP
  • C++: Eigen3, OSQP, OSQP-Eigen

ROS package

  • locomotion_controller: optimization contact force & schedule gait @ 100HZ
  • leg_controller : calculate Jacobian & impedence control @1000HZ
  • state_estimation: extended kalman filter localization @500Hz
  • stm32_Communication: communication with 2 stm32 and control Unitree A1 motor @1000HZ
  • dog_sim: gazebo simulation

How it works?

  • nodes communicate based on topic with high frequency image image

Developer

  • Runyu Ma
  • Qinshu Chen

dog_2021's People

Contributors

ashyman02 avatar runyuma avatar

Watchers

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