Project 1 Full Image

Legs as Deformable Manipulators

[ongoing]

The first phase of the project was finding a suitable enviornemnt to train the robot. This was a time consuming task, as we needed to find an MPC (model predictive control) which would allow us to utilize a tripod stance freeing up one of the legs for manipulation. After several months of iterations, we settled on an MPC which runs in pybullet. The MPC was built for a different robot, which tasked us with tuning the MPC to our liking, so we could properly control the Go2. The MPC is complex, but using llms, I can quickly understand the code at a high level, and make changes without getting stuck on the nitty gritty cs work.


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Next Steps

What I've learned (so far)