# Quadruped-DIPLOID **Repository Path**: dcctt/Quadruped-DIPLOID ## Basic Information - **Project Name**: Quadruped-DIPLOID - **Description**: Developing a four-legged Quadruped robot 'DIPLOID' with stable walking by reinforced learning on bezier gait and terrain awareness using SLAM technique as a part of long-term project undertaken by Team Robocon. (2019-present) - **Primary Language**: Unknown - **License**: Not specified - **Default Branch**: master - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 0 - **Created**: 2020-11-18 - **Last Updated**: 2020-12-19 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README # DIPLOID -The Quadruped Robot [](https://travis-ci.org/joemccann/dillinger)  **DIPLOID is four-legged Quadruped robot inspired by the Boston Dynamics Spot and MIT Cheetah, being developed by Team Robocon BITS Pilani. #make in India** Started in early 2019 as a long-term project with an aim to achieve stable walking on rough terrain and environment perception using SLAM technique. Jump to: * [Motivation](#Motivation) * [Overview](#Overview) * [Kinematics](#Kinematics) * [Gait](#Gait) * [Simulation](#Simulation) * [Chassis and Hardware](#Chassis-and-Hardware) * [Future Goals](#Future-goals) * [References](#References) * [Special Thanks](#Special-Thanks) ## Motivation Quadruped robots have several applications like last mile delivery, guiding robots for blind, security and surveillance, accessing hazardous enviornments, etc. Or maybe Elon Musk will populate Mars with an army of Quadrupeds...who knows? ;) > **"Robots will walk with us to the Future"** The Quadruped robot community and research is growing everyday in different parts of the world. So far, there hasn't been a robust quadruped on an undergraduate level in India, and we on the journey of develpoing one. #MakeInIndia ### Overview This project is the source code for DIPLOID quadruped, a 4 legged robot. The software is implemented on a Raspberry Pi. As of now we have achieved- - Gaits like- trot, walk, pace, gallop and turning - Gazebo simulation for testing gaits and RL ### Kinematics The inverse kinematics has been demonstrated in the illustration below:    Source: Spotmicroai community ### Gait This is how various walking gaits look like in a simple 2D animation.