Event
Open-source quadruped controller adds visual foothold selection
2 reports · 1 sources
Reddit user /u/yoggi56 added depth-camera heightmap-based foothold selection and dynamic stride-height adaptation to their self-designed open-source quadruped locomotion controller (mors_quadruped); currently demonstrated only in MuJoCo simulation. The controller is implemented in C++, Pinocchio, MuJoCo, and ROS 2, uses an MPC + WBC architecture, and currently assumes rigid, non-slipping terrain. The user later said that after weeks of debugging and tuning, the robot climbs stairs more reliably, can step over obstacles up to 11 cm high (18 cm ground clearance), and can handle soft ground with reasonable confidence. The controller is based on an MPC/WBC framework and builds heightmaps from depth-camera images; it is written in C++, ROS2-compatible, and has been open-sourced in the GitHub repository voltdog/mors_quadruped. The author said the next step will focus on improving software reliability, including automated device connection testing and standing up from arbitrary poses.
Developments
- Open-source quadruped robot motion controller based on MPC/WBC and depth-camera height maps · 1 reports
- Open-source quadruped MPC/WBC controller adds vision-based foothold selection · 1 reports
Report timeline
- 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.
Reddit r/robotics ·
- Open-source quadruped MPC/WBC controller adds vision-based foothold selection
The author's open-source locomotion controller for a self-designed quadruped robot has been updated with a vision-based foothold selection method, currently demonstrated in MuJoCo simulation.
Reddit r/robotics ·