Integrate existing Cheetah balancer controller to existing mpc controller.

  • Job DurationLess than a month
  • Project LevelMedium Level
  • Project deadlineExpired

Project detail

Building a quadruped robot. Need help with integration of an already existing balancer controller in the current mpc controller.

The current mpc controller is running with our urdf in Pybullet/ROS.

The balancer controller should also work in the existing Pybullet simulation and one should have the option to switch between the controllers.

Balancer controller can be found here: https://github.com/raess1/Cheetah-Software/tree/master/user/MIT_Controller/Controllers/BalanceController

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Freelancer type required for this project