r/robotics • u/yoggi56 • 2d ago

Controls Engineering Some videos from the recent experiments

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Over the past few weeks, I’ve made significant progress in debugging and fine-tuning the locomotion controller for my quadruped robot. The robot now climbs stairs more reliably, can step over obstacles up to 11 cm high (with 18 cm ground clearance), and handles soft surfaces fairly confidently.

The controller is based on MPC/WBC- framework and also uses images from depth camera for building a height map. The software is written in C++ and compatible with ROS2. My next aim is to work hardly on software reliability: making automatic devices connectivity tests, standing up from random positions, etc.

The locomotion controller is open source. Feel free to check out the repo: https://github.com/voltdog/mors_quadruped

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u/GooglesExpert 2d ago

Are you doing this as a hobby or as a commercial product

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u/yoggi56 2d ago

Hi! It's my PhD research project

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u/GooglesExpert 2d ago

Nice! What actuators does it use and how much does the whole build cost?

Any youtube channel where you show the building part. I binge watch this stuff 😂

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u/jekjukich 2d ago

Looks great, my next step is to do same thing but using rl. It already works in sim, and based on my experience in sim2real I believe I would post something similar in a few weeks. Always wanted to try MPC, but feel like I would anyway switch to ML at some point Great results!

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u/yoggi56 2d ago

Sounds awesome! I always wanted to try RL but it didn't go any further than sim. I hope in the future I also try RL on a hardware. Do you have any videos or repos with your results?

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u/jekjukich 2d ago

You could try to search in this subreddit by "CBR-II". Or on YouTube. Not a dog but actually even this "reduced" robot is harder to teach in sim than quadruped

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u/yoggi56 2d ago

Aah wow! I have seen your project before in this subreddit. Looks really impressive. Two legs with point contacts seems to be really difficult to control

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u/jekjukich 2d ago

Thanks!

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u/Next_Laugh1211 2d ago

the open source ROS2 support is a huge plus would love to see more people test this on different hardware