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How to move the base of a quadruped using moveit?

asked 2018-06-06 22:13:51 -0600

Hari Prasanth gravatar image

I am using moveit to simulate a quadrupedal robot in Gazebo and ROS. Moving the four legs forward separately doesn't seem to be a problem but I can't figure out how to use moveit to move the base, which is basically should be done by actuating all the joints present in the four legs together appropriately.

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Hi,I've also try to use Moveit to simulate the quadruped, and how's going on your reaseach?

crank gravatar imagecrank ( 2018-10-20 04:21:08 -0600 )edit

This is not an answer and rather a comment so please move it in appropriate location. Anyway is your quadruped is a sprawling configuration?

achmad_fathoni gravatar imageachmad_fathoni ( 2018-10-20 04:26:38 -0600 )edit

Is your quadruped is a sprawling configuration?

achmad_fathoni gravatar imageachmad_fathoni ( 2018-10-20 04:27:50 -0600 )edit

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answered 2018-06-11 06:47:36 -0600

v4hn gravatar image

This is a research question, not a software problem.

Current approaches include hard-coded joint trajectories, parameterized Cartesian splines, deep reinforcement learning, ...

Also you have to address the localization of your whole robot because stepping actions introduce noise and you end up not knowing where your robot is.

MoveIt does not give you an action than can directly move the base of the robot to a target point by moving the legs. If you write one that works in the real world, you will receive a PhD in the field, I guess.

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Asked: 2018-06-06 22:13:51 -0600

Seen: 202 times

Last updated: Oct 20 '18