voyagerahn/kist_legged_robot

KIST-Quadruped-Robot-Software

This repository contains the Robot software project. For a getting started guide, see the README.md.

The common folder contains the common library with dynamics and utilities The resources folder will contain data files, like CAD of the robot used for the visualization The robot folder will contain the robot program The third-party will contain small third party libraries that we have modified.

Build

To build all code:

mkdir build
cd build
cmake ..
make

Run unitree A1

1. Connect to A1 network (over wifi : 'UntireeRoboticsA1-846' or wire LAN port)
2. Enter the robot program folder cd build/robot/
3. Run robot code ./kist_controller

Dependencies:

• Eigen - http://eigen.tuxfamily.org

• RBDL 2.6.0 - https://github.com/rbdl/rbdl

git clone https://github.com/rbdl/rbdl
cd rbdl
mkdir build
cd build
cmake -D CMAKE_BUILD_TYPE=Release -DRBDL_BUILD_ADDON_URDFREADER=ON ..
make all
make install
sudo ldconfig