How to implement a gait in a quadruped robot

asked 2020-05-15 13:09:48 -0500

segregario gravatar image

updated 2020-05-16 00:49:51 -0500

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.

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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.

stevemacenski gravatar image stevemacenski  ( 2020-05-15 21:30:01 -0500 )edit

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.

stevemacenski gravatar image stevemacenski  ( 2020-05-15 21:30:49 -0500 )edit

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.

segregario gravatar image segregario  ( 2020-05-16 00:41:42 -0500 )edit