Autonomous Quadruped Project

asked 2021-03-15 19:37:12 -0600

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!

edit retag flag offensive close merge delete


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 -0600 )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 -0600 )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 -0600 )edit