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Introduction to globally renowned quadruped robot research organizations and an overall overview of quadruped robots. Current Status of Quadruped Robots Boston Dynamics Related robots: Altas, Stretch, Spot MIT Biomimetic Robotics Lab Related robots: MIT Cheetah, MIT Mini Cheetah ETH Zurich Related robots: ANYmal Unitree Robotics (China) Related robots: Laikago, Aliengo, A1, Go1, Go2 Components of Quadruped Robots Power System + Control System + Communication System + Energy System Power System: The core is the robot’s joint motors, which need to accurately control joint torque and angle....

The algorithms developed subsequently all generate commands that are sent to these 12 joint motors. Power System of Quadruped Robot 1. Permanent Magnet Synchronous Motor (PMSM) By controlling the current in the three coils on the stator, the motor’s torque and angle can be controlled. This control method is called Field-Oriented Control (FOC). 2. Hybrid Control of Joint Motors The internal control algorithms of the joint motors have already been encapsulated....

ROS and Gazebo In ROS, each process is considered as a node, and communication between nodes relies on topics, services, and parameters. The controller and the simulation (Gazebo) are two nodes that communicate using topics. The process is as follows: the controller reads values such as joint angles, angular velocities, IMU data, etc., from Gazebo, then calculates control signals such as target torques, target joint angles, etc., and sends them to Gazebo....