Quadruped

URDF file and demo code for using a simulated quadruped robot with hobby servos and aluminium parts.

Robots

This repository contains different variations of the quadruped robot.

To import these you will need to select the correct file

path="C:/Users/.../Quadruped/Quadruped_sim/urdf/"

flags = p.URDF_USE_SELF_COLLISION
robot_id = p.loadURDF(path+"Quadruped.urdf",flags=flags)

If you want attached round feet then you can use:

path="C:/Users/.../Quadruped/Quadruped_sim/urdf/"

flags = p.URDF_USE_SELF_COLLISION
robot_id = p.loadURDF(path+"Quadruped_prestip.urdf",flags=flags)

The press tip is a tactile sensor. This does not work in simulation but provides a hard outside.