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"
"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

Motion Data

启动名为"quad_rl_controller"的ros server，能够在回调函数中获取到机器人的运动状态数据，数据内容包含以下两个数组：

"imu_date": length 10，

"leg_data": length 24，[0:12]为关节位置（弧度制），[12:24]为关节的角速度。分别对应右前腿关节"fr_abad"、"fr_thigh"、"fr_knee"，左前腿关节"fl_abad"、"fl_thigh"、"fl_knee"，右后腿关节，以及左后腿关节。