Navigation with a Quadruped robot

asked 2020-02-28 22:09:47 -0600

facureyes
31 ●2 ●3 ●6

Hey guys, Im developing a quadruped robot and I want it to move from a point A to a point B in a flat terrain. How can I implement the navigation to accomplish my goal? So far I have the URDF, Gazebo and Rviz working fine, and if I publish a command in a joint topic I can move it, but Im struggling to make it walk (trajectories and gait planning).

I read that using towr and xpp could be the solution but I dont fully understand how it works and since there is no detailed tutorial of it Im kind of lost.

I would appreciate any kind of help. Thanks.

answered 2020-02-29 11:31:19 -0600

Alexander Winkler

26 ●1 ●4 ●6 https://www.alex-winkler.com/

updated 2020-02-29 11:32:06 -0600

Hi! You could check the "Develop" section of the Readme file at https://github.com/ethz-adrl/towr#dev..., specifically the "Add your own Robot" might be helpful.

On a high level, once you have towr installed and running, you can adapt parameters like the mass, range of motion and other parameters to match your robot. The produced motion plans, sent out through a ROS message, specify the body and endeffector positions over time. You can use xpp to visualize the joint angles, or apply Inverse Kinematics yourself.

Hope this helps. It will require some diving into the source code for your though. I might get around making a more detailed tutorial soon (I'm the author of towr).

Cheers, Alex

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Thanks Alex, Im going to look at it deeper! I really appreciate the work that you have done, I am excited to make it work with my robot!

My quadruped robot only has 2 motors per leg with a parallel linkage so the vertical link is always "orthogonal" to the ground(picture of it). Is it possible to implement a custom range of motion instead of a box? If it is possible, where can I define it?

Cheers, Facu

facureyes ( 2020-03-01 15:59:48 -0600 )edit

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