Unitree A1 Convex MPC based controller

I modified A1-QP-MPC-Controller repository repository to use the KDL library for obtaining kinematic and dynamic parameters.

By utilizing the KDL library, kinematic and dynamic parameters can be easily obtained, making it easier to apply the algorithm to other quadruped robots in the future

Dependencies

1. ROS Noetic
2. KDL library
3. qpOASES

How to launch

Launch unitree A1 gazebo simulation

roslaunch unitree_gazebo normal.launch rname:=a1 wname:=earth

Launch A1 Convex MPC controller

roslaunch a1_control a1_ctrl.launch

Send veloicity command to robot

rostopic pub /a1_robot_cmd unitree_legged_msgs/RobotCmd "{vel_x: 0.0, vel_y: 0.0, vel_z: 0.1, angular_vel_roll: 0.0, angular_vel_pitch: 0.0, angular_vel_yaw: 0.0, mode: 1.0}"

• mode 0 is stand mode

• mode 1 is walking mode (swing legs)

Reference

A1-QP-MPC-Controller

MIT Cheetah 3: Design and Control of a Robust, Dynamic Quadruped Robot

Dynamic Locomotion in the MIT Cheetah 3 Through Convex Model-Predictive Control