Instructions | Mini π：Open-Source, ROS High-Performance Robot | Hackaday.io

1

Locomotion Control Algorithm based on open source Reinforcement Learning

In order to facilitate developers to use our platform, this open source algorithm is simulated and verified on a 12 DOF Mini π.

The open source code is placed on github under the project name livelybot_rl_control:
https://github.com/HighTorque-Robotics/livelybot_rl_control
2

Locomotion Control Algorithm based on based on nonlinear MPC and WBC

The two degrees of freedom of the ankle joint are bound together in urdf, and the robot's degree of freedom becomes 10 degrees of freedom. The open source code is placed on github under the project name livelybot_dynamic_control:

https://github.com/HighTorque-Robotics/livelybot_dynamic_control

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