Body Design and Gait Generation of
Chair-Type Asymmetrical Tripedal
Low-rigidity Robot

• website
• Paper
• YouTube

overview.mp4

Installation

• ROS

You need to have ROS installed on your system. If you haven't installed ROS yet, follow the steps below:

1. Visit the official ROS website: http://www.ros.org/
2. Choose the appropriate ROS distribution for your operating system (e.g., Melodic, Noetic).
3. Follow the installation instructions provided on the ROS website for your specific OS.

And also install the following

sudo apt-get install ros-${ROS_DISTRO}-rosserial-arduino
sudo apt-get install ros-${ROS_DISTRO}-rosserial

• Python

pip install rospkg
pip install numpy
pip install onnxruntime

Usage

• Run the launch file:

cd launch
roslaunch drive.launch

• Execute the pose planning program in a separate terminal:

cd src
./rl_walk.py # or any other relevant program (e.g., connect_walk.py, connect_walk.py, rl_walk.py, rl_stand.py, rl_walk_and_stand.py)

Description

• embedded: Programs to be flashed onto Arduino Nano Every.
• launch: ROS launch files.
• mjcf: MuJoCo XML File and STL files.
• models: Pre-trained models saved in ONNX format.
• src: Gate Generating programs, including five types
  connect_walk.py, connect_walk.py, rl_walk.py, rl_stand.py, rl_walk_and_stand.py.