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mpheng666
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tiny_quadruped
A hobby quadruped exploration project, the end goal is to control the robot with deep reinforcement learning in real world
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Improve body kinematics with eigen
#22
mpheng666
opened
2 years ago
0
Remove ros dependency from tinyquad library
#21
mpheng666
opened
2 years ago
0
Create utility lib
#20
mpheng666
opened
2 years ago
2
Port over to clang format
#19
mpheng666
opened
2 years ago
0
Rewrite tinyquad firmware
#18
mpheng666
opened
2 years ago
0
Implement towr for the motion planning
#17
mpheng666
opened
2 years ago
0
Implement simple quadruped gait
#16
mpheng666
opened
2 years ago
1
Create Model Predictive Control for Motion Planning of Quadrupedal Locomotion
#15
mpheng666
opened
2 years ago
0
Add imu plugin into simulation
#14
mpheng666
closed
2 years ago
0
parameterize bezier curve param and make them dynamically reconfigurable
#13
mpheng666
opened
2 years ago
0
Add tmux to run sim and control
#12
mpheng666
closed
2 years ago
0
Refactor urdf into a proper leg xacro
#11
mpheng666
closed
2 years ago
0
Add wheel on the legs
#10
mpheng666
closed
2 years ago
0
Replace kinematics library with pure 3 joints kinematics
#9
mpheng666
opened
2 years ago
2
Publish ik results into gazebo
#8
mpheng666
closed
2 years ago
0
Refactor c++ style
#7
mpheng666
opened
2 years ago
0
Link up the planner to gazebo
#6
mpheng666
closed
2 years ago
0
Ik planning not working on y axis
#5
mpheng666
closed
2 years ago
1
Create a dog class
#4
mpheng666
opened
2 years ago
0
Add soft constraint to the kinematics planner (prevent drastic jump & path smoothening)
#3
mpheng666
opened
2 years ago
0
Multithreading for running 4 legs simultaneously
#2
mpheng666
closed
2 years ago
0
Modify urdf foot contact frame for kinematics calculation
#1
mpheng666
closed
2 years ago
0