quadruped_robot

MIT mini cheetah simulation in pybullet

MIT mini cheetah use customized simulator and lcm framework, which is not a popular way to do the robot development. Now, we extract the algorithm and do the simulation using ros and pybullet. This can be simple to deploy the system into different custom robot or plantform, and easy to learn the algorithm.

System requirements:

Ubuntu 18.04, ROS Mellodic

Dependency:

use Logitech gamepad to control robot

git clone https://github.com/Derek-TH-Wang/gamepad_ctrl.git

Build

cd {your workspace}
catkin make
source devel/setup.bash

Terrain

you can modify the config/quadruped_ctrl_cinfig.yaml/terrain to deploy different terrains, there are four terrains supported in the simulator now, for example:

"plane"
"stairs"
"random1"
"random2"

Running:

run the gamepad node to control robot:

roslaunch gamepad_ctrl gamepad_ctrl.launch

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