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chvmp / champ

MIT Cheetah I Implementation
BSD 3-Clause "New" or "Revised" License
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Leg Odometry #102

Closed RamCharanThota closed 1 year ago

RamCharanThota commented 1 year ago

Hi, I am working on quadruped robot project. I have successfully drive the robot around (only couple of meters) using champ package. But, I found out some issues in robot position estimated by robot localisation package. So, I was trying to understand how you are doing leg odometer. But, I couldn't wrap my head around it. I am wondering is there any academic article or paper which would help me to understand logic behind champ leg odometer. I really appreciate if you can provide me with such information.

grassjelly commented 1 year ago

First, the robot calculates each leg's position (ref to inertial frame)by doing forward kinematics and then differentiate those positions to get the velocity

RamCharanThota commented 1 year ago

Thank you Juan for reply and answering my question