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silvery107 / rl-mpc-locomotion

Deep RL for MPC control of Quadruped Robot Locomotion
https://docs.google.com/presentation/d/18bznpYrkCPnhCisySPDz18hvL3Ytere7JiJEbdLvpgU/edit?usp=sharing
MIT License
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About how to deploy this controller to the robot I built. #12

Closed jiangtaohu1206 closed 5 months ago

jiangtaohu1206 commented 5 months ago

Thank you very much for your sharing, which gives me a lot of inspiration. I want to deploy this controller on the robot I built later. Could you recommend a real robot deployment scheme for reference? Thanks a lot.

silvery107 commented 5 months ago

Hi, if you are building a custom quadruped robot, try start with replacing one of the current URDF with your robot and tuning its corresponding parameters (kinematics, controller...).