Quadruped Update

Robot insides

Motor controllers + CAN (on the SPIne) works

Lots of time has been spent trying to get the Mini Cheetah software running. Good progress has been made but no visible hardware results yet.

Here’s a video of the actual robot model, with mostly correct physical parameters running the mini cheetah controller (as is) in the mini cheetah simulator.

And here it is failing to do a backflip (it has ~1/3 the torque at its joints so the existing trajectory was unlikely to work)