Quadruped Robot for ROBOCON 2021

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

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

Developer

• Runyu Ma
• Qinshu Chen