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Open-source quadruped robot motion controller based on MPC/WBC and depth-camera height maps

The author debugged and fine-tuned a motion controller based on the MPC/WBC framework for a self-developed quadruped robot, and used depth-camera images to build height maps. The robot can now climb stairs more reliably, step over obstacles up to 11 cm high (with 18 cm ground clearance), and handle soft ground with greater confidence. The controller is written in C++, is ROS2-compatible, and has been open-sourced in the voltdog/mors_quadruped repository on GitHub. Next, the author will focus on improving software reliability, including automated device connection tests and standing up from any posture.

Part of the event: Open-source quadruped controller adds visual foothold selection

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