SDK implements gesture control of GO1

[1874ruanshaodong]

How to apply the SDK to realize the attitude control of GO1, should I use the bottom layer or the top layer? I saw that your books introduced related class implementations, but I didn’t find it on github. Do I need to implement it step by step at the bottom layer?

[xyq1223]

Hello,the posture control of the robot dog you mentioned is to stand on the ground with four legs and then adjust the posture of the robot, which belongs to high-level control. We suggest that you can make changes based on the example_walk.cpp

[1874ruanshaodong]

Thanks a lot. How do I divide the application scenarios of high-level control and low-level control in the future?

[xyq1223]

The low-level control is to control the 12 motors on the body of the robot dog. The example_position.cpp example_torque.cpp and example_velocity.cpp we provide are all used under low-level control.

[xyq1223]

The high-level control mode is the complex movement of the robot dog. The example_walk.cpp we provide is in the high-level control mode.

[1874ruanshaodong]

Thanks a lot. Do you mean that I can use the low-level control to verify that the motor can work normally? If I want to achieve complex movements such as climbing, diagonal gait, triangular gait, attitude change, and stair climbing, do I need to use high-level control?

[xyq1223]

yes, that's right

[1874ruanshaodong]

Hi, Is the high-level control unable to control the motor? I want to verify the inverse solution I calculated on the real machine. Although the low-level control can control the motor alone, other information about the robot cannot be obtained, so it is difficult to achieve attitude control under the low-level control. But to perform attitude control under high-level control, I only need to call certain modes to complete it, and the final result cannot verify the inverse solution calculated by myself.

[xyq1223]

Hello, if you want to verify the inverse solution, you need to make the robot dog under low-level control.

[1874ruanshaodong]

Thanks，I just want to use the inverse solution to achieve attitude control, but if it is implemented in the underlying control, I have no idea.

[xyq1223]

Hello,please refer to the example code in the example_position.cpp file

[1874ruanshaodong]

Hi, Thanks for your tips.