Hi everyone! I've been working on a locomotion controller for my quadruped robot and recently made it open source:

https://github.com/voltdog/mors_quadruped

This repo contains:

- Convex MPC

- Whole Body Impulse Controller

- Perception algorithm using depth images for height map building and selecting suitable footholds during locomotion

- Rigid body dynamics with Pinocchio

- MuJoCo simulation

- ROS2 Jazzy interface

For now, the controller assumes only rigid, non-slippery terrain. As a next step, I plan to improve the reference generator to further increase stability and terrain traversability. Also it would be very interesting to adapt some 3D navigation stacks like dddmr_navigation.

I hope it will be interesting for students and robotic researchers who want to study and extend MPC+WBC locomotion.

I would really appreciate any feedback about the implementation.

Watch the talks here.

RSVP Here

Hello guys

I am currently studying Electrical Engineering, with a background in software development, and would like to specialize in robotics. Because of that I collected ideas and researched some robotics projects. I often came across ROS2 and would like to start, but I don't know where. I familiarized myself with nodes, topics and the turtlesim simulator. In addition I read about linorobot but I am kind of confused, is this a ready to use robot firmware or will i still be able to implement custom software?

My goal in the long run is to build a fully autonomous drone, that will fly a perimeter from the base station with obstacle avoidance (I know that linorobot is for ground based robots)

For starters I'd love to hear your recommendations for beginner projects and your advice/mistakes you wish you didn't make.