Awesome
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.
<img src="https://github.com/Derek-TH-Wang/quadruped_ctrl/blob/master/quadruped_balance.gif" alt="show" /> <img src="https://github.com/Derek-TH-Wang/quadruped_ctrl/blob/master/vision.png" alt="show" /> <img src="https://github.com/Derek-TH-Wang/quadruped_ctrl/blob/master/rviz.png" alt="show" />System requirements:
Ubuntu 18.04, ROS Melodic
Dependency:
use Logitech gamepad to control robot
git clone https://github.com/Derek-TH-Wang/gamepad_ctrl.git
msg rospack and rviz plugin
https://github.com/loco-3d/whole_body_state_msgs.git
https://github.com/eborghi10/whole_body_state_rviz_plugin.git
Build
cd {your workspace}
catkin make
source devel/setup.bash
Install Python dependencies
pip3 install -r requirements.txt
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"
"racetrack"
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
switch the camera on / off:
camera set True or False in config/quadruped_ctrl_config.yaml, then launch the rviz to see the point cloud:
roslaunch quadruped_ctrl vision.launch
also 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