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After many iterations, my quadruped robot finally climbed stairs!
I’m continuing to improve the locomotion algorithm for my quadruped robot. The current control stack uses MPC and WBC for body posture and motion control. Footholds are selected based on a height map built from depth camera data In this experiment, the robot successfully climbs stairs with a step height of 5 cm and a tread depth of 12 cm. Here is the GitHub repository of the project. submitted by /u/yoggi56 [link] [Kommentare] reddit.com · reddit.com
I’m continuing to improve the locomotion algorithm for my quadruped robot. The current control stack uses MPC and WBC for body posture and motion control. Footholds are selected based on a height map built from depth camera data In this experiment, the robot successfully climbs stairs with a step height of 5 cm and a tread depth of 12 cm. Here is the GitHub repository of the project. submitted by /u/yoggi56 [link] [Kommentare]
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