Supported quadrupeds

Andrey1984 · May 25, 2020, 4:34am

Hi Guys,
Is the laikago quadruped supported by Isaac sdk? mini mit cheetah? dogotix? bostondynamix spot? Neither? Any of these? To what extent? Is there documentation on how to setup and use it with the quadruped?

github.com/mit-biomimetics/Cheetah-Software

Opportunity to purchase / collaborate on Cheetah Mini

opened 03:06AM - 29 Mar 20 UTC

closed 01:01AM - 09 May 20 UTC

SteveMacenski

Hi, I'm a maintainer in the ROS ecosystem ([Navigation2](https://github.com/r…os-planning/navigation2), [SLAM Toolbox](https://github.com/SteveMacenski/slam_toolbox), [Perception PCL](https://github.com/ros-perception/perception_pcl), [Robot Localization](https://github.com/cra-ros-pkg/robot_localization/), and the like around mobile/field robotics) and I'm very interested in working with a quadruped from a practical standpoint and getting wider adoption or use of them. Something in particular I'm interested in is writing ROS2 drivers for the Cheetah Mini / Stanford Pupper and integrating them into the next generation ROS2 Navigation stack which aims to support a larger class of robot and maturity in framework (first preliminary work can be seen [here](https://arxiv.org/abs/2003.00368)). I've seen some videos with a number of Cheetah Mini's running around and I was curious to learn if these are available for research / use / sale / what the plans are on this front. I'd love to make this my default development platform for navigation algorithms and make awesome product-grade demos. I, myself, am not interested in using it as a commercial product, but I do create high-quality open-source software and support which can be used in them. (I currently work for Samsung Research doing[ solely Open Source Robotics work](https://www.linkedin.com/in/steve-macenski-41a985101/) that often borders research). If there's an opportunity to collaborate, that would be stellar. I think there are some really cool things this work can be used to build on top of and get them out in the real-world. Thanks, S

shrinv · July 2, 2020, 5:56am

Hi Andrey
You may have seen the documentation that we do support Laikago quadruped. We know of developers that have taken this and ported to Spot Mini and other similar quadrupeds.

Andrey1984 · July 2, 2020, 7:26am

@shrinv,
Thank you for your response.
However, Likago is kind of obsolete model by Unitree, it also uses tx2 jetson;
Newest models are A1 & Aliengo.
I am trying to find out how to integrate A1 with NX Jetson , Livox lidar & IsaaC Likago driver. The latter seems to need to be modified somehow.