ICRA19: MPC on the quadruped robot Panther

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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...

Опубликовано:

17 фев 2019

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Комментарии : 32

@8starsAND 4 года назад

It's amazing!

@zhongwei8197 5 лет назад

Very good job!

@YanranDing 5 лет назад

Thank you very much!

@anhhiephoang7970 3 года назад

Nice :))

@younghashin3847 5 лет назад

Yanran King..

@talhagondal4215 4 года назад

Can you Please explain How MPC algorithum is doing the Job in this case ?

@brpal5443 3 года назад

Was the industrial design of this quadruped robot done by u guys?So Impressive! I think the appearance design is also important.

@YanranDing 3 года назад

Yes

@quincyjones3839 5 лет назад

Are you guys presenting this at ICRA this year? I submitted a request on research gate. I would love to read your paper! Thanks.

@YanranDing 4 года назад

The paper is available at: ieeexplore.ieee.org/abstract/document/8793669

@adriancarrasco2217 4 года назад

What degree is that?

@chunyangzhou9144 3 года назад

Is the actuator made by yourself? The design of the quad looks very geek.

@YanranDing 3 года назад

Thanks. The actuators are made in house.

@chunyangzhou9144 3 года назад

@@YanranDingThanks for your replying, I've seen it on your paper. That's an excellent work!

@WhimsicalGriffin 4 года назад

Is this eventually open source? Would be great to be able to 3d print it and group think to make it more animal like. :)

@AvinashBhashkar 4 года назад

Want Your codes. Please

@xman198902 5 лет назад

Hi, why there is no pace gait experiment?

@YanranDing 5 лет назад

we are working on other gaits including pacing gait now

@liangxiao1879 4 года назад

hi, i see that you use Matlab to simulate the robot, but How do you solve the collision detection problem? Thank you !

@liangxiao1879 4 года назад

And how do you calculate the reaction force?

@YanranDing 3 года назад

@@liangxiao1879 The Matlab simulation is not that realistic, the collision is declared when the foot kinematically penetrates the ground.

@magnuswootton6181 3 года назад

and does it start from any arbitrary starting posture?

@YanranDing 3 года назад

Yes, the robot can start from any starting posture as long as four feet are in contact with the ground.

@magnuswootton6181 3 года назад

@@YanranDing cool.

@ajaygunalan1995 5 лет назад

Is there any paper about the hardware and software architecture? Is the hardware developed in house or bought from Unitree robotics (Laikago)

@YanranDing 5 лет назад

The paper has been sent to you via ResearchGate. The hardware is developed in our lab.

@did3d523 4 года назад

have you give up??

@YanranDing 4 года назад

No sir, I have not yet

@did3d523 4 года назад

too big too eavy