Quadruped_Robot_Modeling

This is a side project of robotics club at Maryland.
We try to create a quadrped robot dog which can climb the stairs in the real world.
This simulation mainly focuses on Forward and Inverse Kinematics of the robot dog.
In the project, the robot dog of the legs would move in the certain path(oblique circle).
Using Inverse Kinematics, plugging the speed of the end frame of the leg can transfer to the position.

Installation

1. Clone this repository

   git clone <HTTPS or SSH>

2. Source the code

   source devel/setup.bash

3. Build the file
   Under the place cloned the repository

   catkin_make

Launch the file

1. Create a terminal and

   roslaunch testudog testudog_launch.launch

2. Create another terminal and

   rosrun testudog main

3. The path estimation
   Under the testudog/controller/src

   python3 Circle_calculation.py

Result

This is the performance video LINK
Applying the speed on the front right leg and back left leg, it makes the robot moves around front left leg(ideal condition).
The moving path of the leg