robotlocomotion/littledog

Example of quadruped planning and control in drake using LittleDog -- a small quadruped robot from Boston Dynamics.

littledog's Issues

Inverse dynamics for control

Hello all,
I am using Drake to implement model-based control on LittleDog. I encountered two questions. First, why will LittleDog fall down when I just run LittleDog.runPDhome? Secondly, I compute joint torques using inverse dynamics when the robot is in static state. Then apply these torques to do simulation. I think LittleDog can stand on the ground. But it failed, i.e., LittleDog fall down very quickly. Is anyone can help me? I am a beginner to use drake.

How to add moment disturbance

Hi all,

I know we use Copy_of_three_dof_force.urdf to add external force to Atlas or Valkyrie. And I have implement it on LittleDog successfully according to pushing recovery example of Atlas. Now I want to add moment disturbance to LittleDog. How can I do? How to modify this file Copy_of_three_dof_force.urdf? Thanks. @RussTedrake

License

Hi @RussTedrake ,

Thanks for porting this from a private repo. May I know what's the license like? I'm planning to make changes on the URDF file so it can be run on ROS/Gazebo and open sourcing it.

Thank you!