Autonomous Quadruped Project

asked 2021-03-15 19:37:12 -0500

robots_brr gravatar image

Hi! I've been working on building an autonomous quadruped [legged robot] that can go from point A to point B in an unknown environment with an uneven terrain while avoiding dynamic obstacles. I plan to use ROS Melodic and Gazebo for the same. I believe the ROS Navigation Stack is configured for wheeled robots and thus won't be directly applicable to my project. What would be a good way to go about my problem statement? I plan to get the mapping done using OctoMap. Would that be sufficient? Do I need to use another map, something similar to an elevation map? What libraries/packages can I use to set up the global and local planner? Please suggest relevant resources and solutions. Thanks!

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Comments

It really depends so highly as to what you're trying to accomplish, what assumptions you make where, and more. There's no easy answer to this question without a ton more information that I don't think would ultimately be share-able in a medium like this.

I think this is posed as an unanswerable question.

stevemacenski gravatar image stevemacenski  ( 2021-03-15 20:30:40 -0500 )edit

@stevemacenski Thank you so much for replying. I understand the issue and get your point. However, could you point me to a possible direction and provide a starting point and perhaps tell me where I could look for these answers? Thanks again!

robots_brr gravatar image robots_brr  ( 2021-03-15 23:21:08 -0500 )edit

@stevemacenski I tried to understand the build and documentation of the famous open source quadrupeds like Spot. With that, I think that the navigation package used is applicable only for 2D navigation, and hence might not be suitable for my project's requirements for transversing unknown, uneven terrain. Am I right with that conclusion?

robots_brr gravatar image robots_brr  ( 2021-03-15 23:26:01 -0500 )edit