mr-qb / dreamwalker Goto Github PK

Master's degree final project which included design, simulation and creating walking algorithms of quadruped robot.

As a master's degree student I majored in biomechanics and robotics. While being an overly ambitious person, I wished to make use of as many learned skills as possible during development of my master's final project. In addition I wanted to create an opportunity to push my Python programming skills to higher level. Then, inspired by Boston Dynamics' creations, I decided to make my own quadruped robot. Unfortunately I couldn't afford to build actual robot but, thanks to my thesis advisor's advice, I found out about possibility of making realisic simulation with use of Robot Operating System and Gazebo simulator. As a result I created simulation of my own quadruped robot and developed its movement control software.

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• how to set up dual boot of Linux Ubuntu and Windows 10 operating systems;
• basics of Robot Operating System (ROS) metasystem;
• creating simulation worlds for Gazebo simulator;
• creating description of robot in URDF and XACRO formats;
• rospy library;
• creating GUIs with QtDesigner;
• deeper understanding of Python programming language;
• basics of fuzzy logic;
• learning from and working with software documentation

MIT