How to implement a gait in a quadruped robot
Hi guys,
Ros noob here.
I have made a quadruped robot model using solidworks and exported the urdf and specified the joint limits etc. I can send rostopic commands to individual joints to move them to a certain angle. I have also created a python script and defined all my joint limits there so i dont have to publish each joint's command individually.
I dont know what to do after this.
I'm a total amateur in ROS and my objective is to implement various gaits in the robot.
How do I use the forward/inverse kinematics here to make it move? What are the basic steps or any steps i need to take? can you please direct me to the right path?
I went through various topics about this, but everyone seems to be 2-3 steps ahead of me. I went through towr and xpp but i do not know what path i have to take to make my robot go from single rostopic commands to a fully walking robot. I would really appreciate some help.
What you're asking about is an entire field of research, so I don't think you'll find some clear step by step instructions, the mechanical part of a quadruped is the easiest part. I think you need to go and learn some robotics fundamentals before coming back to an implementation like this.
Not trying to be rude, but just trying to be practical. The questions you're asking are pretty basic and I think there's a body of work you need to master before taking this particular project on.
I'll figure the rest myself, but I just need to be guided and directed on a certain path right? That's what i want to know.