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PAWS Quadruped Robot

About The Project

ROS driver for a custom built 3D printed quadrupedal robot (named PAWS). This repo contains ROS1 packages for low level motor control, gazebo simuations, whole body kinematics and a basic gait generator.

Getting Started

The driver has been tested on Ubuntu 20.04 with ROS1 Noetic.

Prerequisites

  • ROS Noetic
  • Numpy
  • Scipy

Installation

To install the PAWS driver:

mkdir paws_ws && cd paws_ws
mkdir src && cd src
git clone https://github.com/kousheekc/PAWS-Quadruped-Robot.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
catkin_make
source devel/setup.bash

Usage

Run the simuation using:

roslaunch paws_gait walk.launch

Contact

Kousheek Chakraborty - [email protected]

Project Link: https://github.com/kousheekc/PAWS-Quadruped-Robot.git