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quadruped_ros2_control
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90 Commits

Author SHA1 Message Date
Zhenbiao Huang 2052b3e9d1 add support for aliengo 2024-09-26 20:24:03 +08:00
Huang Zhenbiao c4262b42da add gait manager 2024-09-26 17:28:18 +08:00
Huang Zhenbiao 3149acf2ed state estimate tested 2024-09-25 21:01:50 +08:00
Huang Zhenbiao bfc5532ce3 ocs2 controller adding 2024-09-24 21:50:46 +08:00
Huang Zhenbiao ad680af0f1 ocs2 controller init 2024-09-24 19:48:14 +08:00
Huang Zhenbiao 5f7702bdb9 add support for foot force sensor 2024-09-24 17:13:51 +08:00
Huang Zhenbiao da99daa31c use swing all rather than stance all 2024-09-20 22:10:43 +08:00
Huang Zhenbiao 269e3b6a3d add cyber dog 2024-09-20 17:56:00 +08:00
Huang Zhenbiao ef11c036ad update README.md 2024-09-20 15:39:50 +08:00
HUANG ZHENBIAO d99c8c3b8a
Merge pull request #1 from legubiao/gazebo 
Gazebo
 2024-09-20 15:30:39 +08:00
Huang Zhenbiao 956b684c8b fix go1 gazebo visualization 2024-09-20 15:29:44 +08:00
Huang Zhenbiao 687d549a18 fix go2 config 2024-09-20 13:07:59 +08:00
Huang Zhenbiao f127ff144f can visualize and control gazebo robots 2024-09-20 12:48:45 +08:00
Huang Zhenbiao 5825c3cac2 add pd controller 2024-09-19 22:45:08 +08:00
Huang Zhenbiao 5f9a55440e can walk but cannot turn on go2 robot 2024-09-19 17:16:17 +08:00
Huang Zhenbiao 2ee53e2f51 still struggle with trot 2024-09-19 14:00:43 +08:00
Huang Zhenbiao 842a62465b hardware code cleanup 2024-09-18 22:27:16 +08:00
Huang Zhenbiao ac6e2278a1 fix joystick direction 2024-09-18 22:19:37 +08:00
Huang Zhenbiao af6599e904 use unitree rotation calculation 2024-09-18 21:48:14 +08:00
Huang Zhenbiao f0a5257852 trot but not stable 2024-09-18 19:37:01 +08:00
Huang Zhenbiao da5be83eda refact with reference 2024-09-18 13:52:37 +08:00
Huang Zhenbiao e390835458 refact with reference 2024-09-18 13:18:02 +08:00
Huang Zhenbiao 85be4715ab refact with reference 2024-09-18 12:29:26 +08:00
Huang Zhenbiao 657029864e using kdl::RPY 2024-09-17 19:42:21 +08:00
Huang Zhenbiao 8cedc4f422 balance control achieved 2024-09-17 18:21:04 +08:00
Huang Zhenbiao 79fc0677f5 can stand but not stable 2024-09-17 14:03:08 +08:00
Huang Zhenbiao 5eaf8e1e17 tried to add balance test 2024-09-16 21:15:34 +08:00
Huang Zhenbiao 028b7b52b1 add imu estimator 2024-09-16 13:44:08 +08:00
Zhenbiao Huang 9646e428c6 fixed the frequency problem 2024-09-14 17:54:39 +08:00
Zhenbiao Huang 691734dc19 add imu to hardware interface 2024-09-14 11:41:38 +08:00
Huang Zhenbiao 4649f555e6 add joystick control input 2024-09-13 16:41:58 +08:00
Huang Zhenbiao 0561c115ba add free stand 2024-09-13 15:00:20 +08:00
Huang Zhenbiao 7e9e1e346c add swing test mode 2024-09-12 20:04:20 +08:00
Huang Zhenbiao 073f18bff1 init swing test 2024-09-12 13:56:51 +08:00
Huang Zhenbiao 20c2c29bef can stand up 2024-09-11 20:41:12 +08:00
Huang Zhenbiao 26ff7f4974 add state switch 2024-09-11 14:01:07 +08:00
Huang Zhenbiao a494a4e854 go1 description and keyboard input 2024-09-11 11:32:54 +08:00
Zhenbiao Huang 0cc499210a achieved passive mode on unitree simulation 2024-09-10 22:30:30 +08:00
Huang Zhenbiao acc6540534 can visualize mujoco simulation 2024-09-10 13:18:40 +08:00
Zhenbiao Huang 2e94c2eb32 init commit 2024-09-09 22:18:19 +08:00