A ROS Package for Legolas

Legolas is a mini bipedal robot inspired by the Cassie by Agility Robotics. The project aims to provide an open-source platform for learning and applying reinforcement learning in robotics.

Repository Contents

This repository contains a ROS package, legolas_biped, to run Legolas.

The CADs for the robot is available at Legolas - an open source Biped.

Built With

• Ubuntu 20.04.6 LTS
• ROS Noetic
• Python

Getting Started

1. Clone this repository into your workspace:

   git clone https://github.com/daviddoo02/Legolas_Controller.git

2. In the root of the repository, run catkin_make to build the packages:

   catkin_make

3. Launch the walking gait:

   roslaunch legolas_biped Gait_Demo.launch

License

This project is licensed under the MIT License - see the LICENSE file for details.

Acknowledgments

• Inspired by the Cassie robot by Agility Robotics.