ICRA19: MPC on the quadruped robot Panther
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- čas přidán 17. 02. 2019
- Real-time Model Predictive Control for Versatile Dynamic Motions in Quadrupedal Robots
Yanran Ding, Abhishek Pandala, Hae-Won Park
paper link: ieeexplore.ieee.org/abstract/...
Leg design: • IROS17: Design and Imp...
It's amazing!
Very good job!
Thank you very much!
Nice :))
Yanran King..
Can you Please explain How MPC algorithum is doing the Job in this case ?
What degree is that?
Was the industrial design of this quadruped robot done by u guys?So Impressive! I think the appearance design is also important.
Yes
Is this eventually open source? Would be great to be able to 3d print it and group think to make it more animal like. :)
Are you guys presenting this at ICRA this year? I submitted a request on research gate. I would love to read your paper! Thanks.
The paper is available at: ieeexplore.ieee.org/abstract/document/8793669
Hi, why there is no pace gait experiment?
we are working on other gaits including pacing gait now
Want
Your codes. Please
Is the actuator made by yourself? The design of the quad looks very geek.
Thanks. The actuators are made in house.
@@YanranDingThanks for your replying, I've seen it on your paper. That's an excellent work!
hi, i see that you use Matlab to simulate the robot, but How do you solve the collision detection problem? Thank you !
And how do you calculate the reaction force?
@@liangxiao1879 The Matlab simulation is not that realistic, the collision is declared when the foot kinematically penetrates the ground.
and does it start from any arbitrary starting posture?
Yes, the robot can start from any starting posture as long as four feet are in contact with the ground.
@@YanranDing cool.
Is there any paper about the hardware and software architecture?
Is the hardware developed in house or bought from Unitree robotics (Laikago)
The paper has been sent to you via ResearchGate. The hardware is developed in our lab.
have you give up??
No sir, I have not yet
too big too eavy