Home

Awesome

DreamWalker Project

Develop a quadruped robot like Spot Mini image3

DEMO

gazebo Screenshot from 2020-04-21 23-02-17

Rviz Screenshot from 2020-04-21 22-57-04

Features

This robot will be developed using a BLDC actuator optimized for a quadruped robot.
Gait control is performed using general kinematics control, and stability is guaranteed by dynamics control.
At this stage, the simulation environment is ready.

Environment

OS:Ubuntu 18.04.4 LTS
CPU:Intel® Core™ i7-1065G7 CPU @ 1.30GHz × 8
GPU:Intel® Iris(R) Plus Graphics (Ice Lake 8x8 GT2)
ROS:Melodic

Usage

source ~/catkin_ws/devel/setup.bash
(source ~/catkin_ws/devel/setup.zsh)
cd ~/catkin_ws/src
git clone https://github.com/Ohaginia/dream_walker.git
cd ~/catkin_ws
catkin_make
roslaunch dream_walker gazebo.launch
roslaunch dream_walker display.launch model:=dream_walker.urdf

Note

Change Fixed Frame of Global Options from map to dummy. (Default is map) Screenshot from 2020-04-21 22-58-47　　

Author

Screenshot from 2020-04-21 22-58-47

Change Fixed Frame of Global Options from map to dummy. (Default is map)

Author

License

"dream_walker" is under MIT license.