Quadruped Ctrl Versions Save

MIT mini cheetah quadruped robot simulated in pybullet environment using ros.

0.6

3 years ago
  1. delete ros from gait controller
  2. update code structure, python can call gait controller cpp function
  3. fix bugs: 1) init mpc standing problem; 2) init state estimate filter data problem; 3) straight walk but turn left problem.

0.5

3 years ago

Pybullet simulator and ROS env based mini cheetah basic MPC and PD controller walk control