【导读】开源MIT Mini cheetah机器狗设计第40篇,番外篇第16篇,Quad-SDK设计之机器人驱动规划(Robot Driver)。 上一篇我们提到过,Robot Driver由两部分组成,一个是腿部控制器(Leg Controller),另一个是状态估计器(State Estimator)。 在讲解MIT Mini cheetah的电机FOC控制时,也同样有Leg Controller,需要提供给FOC控...
1、Tutorial: Adding a New Type of Robot to Quad SDK 用户可以通过添加描述其机器人的若干文件,将新机器人添加到Quad-SDK中。目前支持Unitree A1和Ghost Spirit 40,它们可以作为添加新机器人时的参考示例。 1. 创建机器人描述文件 在/quad_simulator包中,修改以下内容: 添加/quad_simulator/<robot_name>_descr...
LEAD_STANCE与LAND_STANCE阶段：地面反作用力定义为peak ground reaction force，而非线性插值的力。峰值地面反作用力通过Python脚本复现插值函数得到，为150牛顿。加速度与地面反作用力的统一计算：公式：acc = / mass。其中，x，y方向不受重力影响，加速度等于地面对机器人的反作用力除以机器狗的质量。起...
解析指出，根据Global Planner的论文描述，在CONNECT phase下，加速度需要线性变化。已知起点与终点位置与速度，通过公式反推起点与终点的加速度。论文中的描述存在误解，实际代码实现正确。通过线性插值计算平面加速度，垂直力视为重力mg。插值代码位于planning_utils.cpp中，公式为grf = acc / g，其中g代表...
cd ~/catkin_ws cd src catkin_init_workspace git clone https://github.com/robomechanics/quad-sdk.git//(默认是18.04)需要到github主页 https://github.com/robomechanics/quad-sdk main中改成noetic_devel,再下载或者gitclone 在quad-sdk功能包下external/ipopt/中新建coinhsl文件夹 将之前ipopt HSL下创建...
54589 - 14.4 EDK, SDK - Board Support Package fails to compile with Xil ISF v3.0 on Zynq SoC using hard Quad SPI Description In Zynq systems utilizing the hard Quad SPI device on the SoC and exporting to SDK, if the Xil ISF library is used in the Board Support Packages settings, this...
This sample demonstrates the usage of Scene in Unreal Engine. Though its main feature is related to Scene, it also uses a quad-layer to render an in-game menu with higher quality, works with audio, and provides a Passthrough stereo layer.The Oculus SDK a
In cases where the mesh has been already triangulated, this class provides a meachanism to convert (quadify) some triangles back to quad representations. See also: PxClothFabricCooker Parameters: desc The cloth mesh descriptor prepared for cooking ...
I am working on a custom i.MX6Quad board without Linux or Android and am trying to driver the basic boot-code and peripheral drivers using i.MX6 Platform SDK. Can someone guide me as to how to proceed in this way? Using IOMUX.exe I have generated the IOMux register code and ...
My CPU is Intel Core2 Quad Q6600 @2.40 GHz. According to the relese notes, OpenCL SDK1.5 should work onIntel Core 2 Quad Processors. However the installation fails on my CPU saying unsupported device. Am I missing something here? Translate 0 Kudos Reply All forum topics Previou...