The goal of this project is to replicate the functionality of the Boston Dynamics Spot robot on a smaller scale, leveraging the power of ROS2 and Gazebo simulation. As a robotics intern with a focus on computer engineering, I'm excited to explore and experiment with various concepts within this project.
At the moment, this project is a work in progress. As a full time college undergraduate student, I find it hard to consistenly work on this project. There will often be large gaps of time between updates.
A gazebo simulation is in development for sparke. As of August 22 2023, the simulation is working on humble! Instructions on how to run the simulation can be found in the doc folder. Please keep in mind that the simulation is still very much a WIP. The inertias, PID gains, etc need to be tuned.
In addition to using existing ROS2 control mechanisms, I've been developing custom kinematics solutions tailored to the specific dynamics of the mini Spot robot. This involves fine-tuning the motion control and ensuring smooth navigation within the simulation. (https://github.com/Infinite-Echo/sparkeKinematics)
Looking ahead, I have exciting plans for expanding the capabilities of the mini Spot robot:
One of the major upcoming features is the ability to make the robot follow a designated leader. The robot will be able to lock onto a person and autonomously navigate while avoiding obstacles. This feature will showcase the integration of perception, motion planning, and obstacle avoidance, making the robot a dynamic companion.
While this project is currently a personal endeavor, I'm open to collaboration and contributions. If you're passionate about robotics, ROS2, Gazebo simulation, or any related field, feel free to reach out. Let's discuss potential areas of collaboration and innovation.
Contact If you're interested in this project or have any questions, you can reach out to me via email at [email protected]. I'm looking forward to connecting with fellow enthusiasts and creators!
Note: This README provides an overview of the project and its current status. For detailed technical information, code documentation, and updates, please refer to the project's source code and documentation.