https://github.com/alpaca-zip/pupbot

ROS package for quadruped robot PupBot.
https://github.com/alpaca-zip/pupbot

arduino quadruped-robot raspberry-pi ros

Last synced: 12 days ago
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ROS package for quadruped robot PupBot.

• Host: GitHub
• URL: https://github.com/alpaca-zip/pupbot
• Owner: Alpaca-zip
• License: apache-2.0
• Created: 2021-05-28T08:53:20.000Z (over 4 years ago)
• Default Branch: noetic-devel
• Last Pushed: 2023-09-09T18:15:58.000Z (over 2 years ago)
• Last Synced: 2025-09-09T04:54:33.292Z (5 months ago)
• Topics: arduino, quadruped-robot, raspberry-pi, ros
• Language: C++
• Homepage:
• Size: 16.7 MB
• Stars: 19
• Watchers: 2
• Forks: 0
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

README

          
# PupBot [![ROS-noetic Industrial CI](https://github.com/Alpaca-zip/pupbot/actions/workflows/noetic-ci.yml/badge.svg)](https://github.com/Alpaca-zip/pupbot/actions/workflows/noetic-ci.yml) [![Docker Build Check](https://github.com/Alpaca-zip/pupbot/actions/workflows/docker-build-check-bot.yml/badge.svg?event=pull_request)](https://github.com/Alpaca-zip/pupbot/actions/workflows/docker-build-check-bot.yml)

ROS package for quadruped robot PupBot.

[![dockeri.co](https://dockerico.blankenship.io/image/alpacazip/pupbot)](https://hub.docker.com/r/alpacazip/pupbot)

~~https://github.com/Alpaca-zip/docker-pupbot~~ is no longer supported!  

Check out DockerHub from the banner above.

 　

## Basic Components

- Dynamixel AX-12A (×12)

- OpenCR1.0 (×1)

- Raspberry Pi 4 Model B (×1)

- LIPO Battery 11.1V 1,800mAh (×1)

- 3P Extension PCB (×1)

## Posture control with PupBot

The posture control feature provides a stable gait on sloping terrain. This algorithm plays an important role in stabilizing the robot body during gait by dynamically controlling the toe position based on the filtered roll and pitch angles. 

![posture_control](https://user-images.githubusercontent.com/84959376/191177606-0fdff183-3349-40da-a78a-2da9e3d32d73.gif)



## Usage

### 1. Setup ROS package

```

$ cd ~/catkin_ws/src

$ git clone -b noetic-devel https://github.com/Alpaca-zip/pupbot.git

$ wstool merge pupbot/pupbot.rosinstall

$ wstool update

$ cd ~/catkin_ws

$ rosdep install -r -y -i --from-paths .

$ catkin build

```

### 2. Control the PupBot with simulation

```

$ roslaunch pupbot pupbot_simulation.launch debug:=true

```

### 3. Extra information

It is helpful to see `pupbot_bringup.launch` to get an understanding of how the robot works on the actual machine.