Trajectory optimization package for Mini-Pupper robot

Related tags

Hardwaremini-pupper
Overview

Trajectory optimization package for Mini-Pupper robot

Purpose of this repository is to provide low-torque and low-impact trajectory for Mini-Pupper quadrupedal robot.

Requirements

First, install Pinocchio by following the instruction. Next, install robotoc at ROBOTOC_INSTALL_DIR as

git clone https://github.com/mayataka/robotoc & cd robotoc
mkdir build & cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DOPTIMIZE_FOR_NATIVE=ON -DCMAKE_INSTALL_PREFIX=ROBOTOC_INSTALL_DIR
make install -j4

and modify Python path as

export PYTHONPATH=ROBOTOC_INSTALL_DIR/lib/python3.8/site-packages:$PYTHONPATH 

e.g., write it in ~/.bashrc. Finally, install meshcat-python as

pip install meshcat

Running the trajectory optimizer

In mini_pupper_trajopt/trajopt directory, you can run examples of the mini-pupper's gait optimization. You can change the gait parameters such as step length, step height, step timinigs, etc. It visualizes the solution trajectory and save the trajectory.

Deploying the trajectory to the mini-pupper controller

TODO

Owner
Sotaro Katayama
Ph. D. student at Kyoto University / Optimal Control / Model Predictive Control
Sotaro Katayama
Toy robot that traverses on a finite surface

Toy Robot Challenge - Release Notes November 12, 2021 New features Initialisation - Users can set the home position and heading of the robot. Position

Ze Fei Teo 0 Feb 03, 2022
Provide Unifi device info via api to Home Assistant that will give ap sensors

Unifi AP Device info Provide Unifi device info via api to Home Assistant that will give ap sensors

12 Jan 07, 2023
Uses the Duke Energy Gateway to import near real time energy usage into Home Assistant

Duke Energy Gateway This is a custom integration for Home Assistant. It pulls near-real-time energy usage from Duke Energy via the Duke Energy Gateway

Michael Meli 28 Dec 23, 2022
A dashboard for Raspberry Pi to display environmental weather data, rain radar, weather forecast, etc. written in Python

Weather Clock for Raspberry PI This project is a dashboard for Raspberry Pi to display environmental weather data, rain radar, weather forecast, etc.

Markus Geiger 1 May 01, 2022
DOS-like OS for RP2040 basic microcontroller boards

Micropython DOS-like OS for RP2040 microcontroller boards. Check out the demo video at https://www.youtube.com/watch?v=Az_oiq8GE4Y To start the OS typ

RetiredWizard 58 Dec 27, 2022
This is a collection of python modules that interact with the Ryze Tello drone.

This is a collection of python modules that interact with the Ryze Tello drone.

DJI-SDK 1.2k Jan 03, 2023
Rasberry Pie GPIO memory game. Press the corresponding key to the lit LED.

RPie-keyboard-game Rasberry Pie GPIO memory game. Press the corresponding key to the lit LED. Randem LED (general output) is lit up on rasberrypi rand

Shawn Dowling 1 Oct 24, 2021
Python module for the qwiic serial control motor driver

Qwiic_SCMD_Py Python module for the qwiic motor driver This python package is a port of the existing SparkFun Serial Controlled Motor Driver Arduino L

SparkFun Electronics 6 Dec 06, 2022
Nordpool_diff custom integration for Home Assistant

nordpool_diff custom integration for Home Assistant Requires https://github.com/custom-components/nordpool Applies non-causal FIR differentiator1 to N

Joonas Pulakka 45 Dec 23, 2022
Alarm Control Panel component for Zigbee Keypads using action_transaction field

hass_transaction_alarm_panel Alarm Control Panel component for Zigbee Keypads using action_transaction field. Works together with zigbee2mqtt Supporte

Konstantin 4 Jun 09, 2022
A python library written for the raspberry pi.

A python package for using certain components on the raspberry pi.

Builder212 1 Nov 09, 2021
uOTA - OTA updater for MicroPython

Update your device firmware written in MicroPython over the air. Suitable for private and/or larger projects with many files.

Martin Komon 25 Dec 19, 2022
Micro Displays for Raspberry Pi

micro-displays Micro Displays for Raspberry Pi Why? I'm super bored in lockdown. Add a Raspberry Pi 400 and a few tiny displays... The top half of the

ig 291 Jul 06, 2022
Implementation of Forwards Kinematics, Inverse Kinematics, Point to Point Movement and Synchronous movement for Kuka KR 120 R2700-2.

I made this project for my university course in robotics. I rarely found any information regarding the implementation of mathematics in code. So I decided to make this repo in order to help others :)

2 Dec 27, 2022
The robot is an autonomous small scale racing car using NVIDIA Jetson Nano.

The robot is an autonomous small scale racing car using NVIDIA Jetson Nano. This project utilizes deep learning neural network framework Keras/Tensorflow, together with computer vision library OpenCV

1 Dec 08, 2021
It is a program that displays the current temperature of the GPU and CPU in real time and stores the temperature history.

HWLogger It is a program that displays the current temperature of the GPU and CPU in real time and stores the temperature history. Sample Usage Run HW

Xeros 0 Apr 05, 2022
Quasi-static control of the centroid of quadruped robot

Quasi-static control of quadruped robot   This is a demo of the quasi-static controller for the centroid of the quadruped robot. The Quadratic Program

Junwen Cui 21 Dec 12, 2022
Custom component for Home Assistant that integrates Candy/Haier Wi-Fi washing machines (also known as Simply-Fi).

Candy Home Assistant component Custom component for Home Assistant that integrates Candy/Haier Wi-Fi washing machines (also known as Simply-Fi). This

Olivér Falvai 61 Dec 29, 2022
Automatic CPU speed & power optimizer for Linux

Automatic CPU speed & power optimizer for Linux based on active monitoring of laptop's battery state, CPU usage, CPU temperature and system load. Ultimately allowing you to improve battery life witho

Adnan Hodzic 3.4k Jan 07, 2023
A Python script to monitor the latest block on an LCD.

PiHole-Monitoring A Python script to monitor the latest block on a lcd display. The first number represents the dns queries from the last 24h, the sec

Maxi 4 Dec 05, 2022