Bolt - Simulation and Control on real robot

Software
1

Hello,

We are currently building the biped Bolt hardware. We have a couple of questions regarding the softwares, as there are many different packages on the Github…

  • where is the Github repo about control and test on the real robot?
  • where is the repo about simulating the robot walking? Is it written in Pybullet or Mujoco?

Thanks!

2

Hi,

Here are some simple tests to check if the robot is working, but they are only for Solo12 and one-leg hopper but should be easy to extend it to Bolt:

Here are the demos for walking controller of Bolt:

For instance you can start with this reactive_planners/demo_reactive_planners_bolt_step_adjustment.py at master · machines-in-motion/reactive_planners · GitHub

Best,
Majid

3 Likes
3

how do you generate the reference traj?

4

when i do the simulation,i also found that the gournd reaction force is hard to handle it well,which cause sometimes the holonomic constraints may violated,Bolt will slip.

1 Like
5

Thanks! I will take a look