Foot_Placement_Safe_Control

Quadruped robot foot placement safe control using OCS2.

The simulator is based on OCS2, the doc can be found in OCS2 Doc. The realization of foot placement safe control has referenced the work by matheecs.

Build

Build OCS2 following the installation guide. Then build ocs2_legged_robot_annotated:

catkin build ocs2_legged_robot_annotated
source devel/setup.bash

Run the simulation

roslaunch ocs2_legged_robot_annotated legged_robot.launch

In case the python node draw_polygon.py is not launched successfully, one can run the python script manually.

python3 src/ocs2_legged_robot_annotated/scripts/draw_polygon.py

There are three new terminal will be launched, 1) Showing the current time, 2) Enter the gait type, 3) Enter the target pose (X Y Z yaw, relatively). The gait type can be chosen within

[0]: stance
[1]: trot
[2]: standing_trot
[3]: flying_trot
[4]: pace
[5]: standing_pace
[6]: dynamic_walk
[7]: static_walk
[8]: amble
[9]: lindyhop
[10]: skipping
[11]: pawup