🎙️ Introduction

PCQR (motion planning and control for quadruped robots) consists of two components for motion planning and for motion control.

🧭 Initial Setup（Ubuntu）

• Ipopt 3.12.7
• OSQP 0.4.1
• RBDL
• Eigen
• Webots 2021a

✨ Run

1. Clone this repo

git clone https://github.com/Technician13/PCQR.git     
cd PCQR  

2. Run the package

mkdir build
cd build
cmake ..
make

Select the controller Actiger_controller in Webots2021a and click the button Run.

⚙️ Configurations

• You can use a gamepad as a remote controller. If you want to control the robot without modifying the code, please configure the functions of your gamepad buttons as shown below. Otherwise, please modify the code accordingly.

🎥 Results

🗞️ Cite us

coming soon......