Implementation of a Reactive Walking Controller for the New Open-Hardware Quadruped Solo-12
Pierre-Alexandre Léziart Thomas Flayols Felix Grimminger Nicolas Mansard Philippe Souères Pierre-Alexandre Léziart Thomas Flayols Felix Grimminger Nicolas Mansard Philippe Souères
This paper aims at showing the dynamic performance and reliability of the low-cost, open-access quadruped robot Solo-12, which is developed within the framework of Open Dynamic Robot Initiative. It presents the implementation of a state-of-the-art control pipeline, close to the one that was previously implemented on Mini Cheetah, which implements a model predictive controller based on the centroid...