Quadruped Drake

This repository contains code for the simulation and control of quadruped robots using Drake.

Dependencies

• Drake, compiled with Python bindings
• LCM
• Eigen
• Ipopt
• ifopt
• CMake
• Numpy

Installation

Clone this repository: git clone https://github.com/vincekurtz/quadruped_drake.git

Compile C++ code (includes TOWR and custom LCM bindings for interface with drake):

mkdir -p build
cd build
cmake ..
make

Usage

Start the drake visualizer bazel-bin/tools/drake_visualizer.

Run the simulation script ./simulate.py.