A tripod gait driven from the keyboard. A /cmd_vel command becomes six foot trajectories, and the leg IK turns each foot position into three joint angles.
The same control node runs the physical robot; I only have the sim footage.
A team robot from the A.T.O.M. robotics lab at MAIT. Three parts are mine.
The control node: /cmd_vel to a tripod gait through ros2_control, two triangles of legs alternating so three feet are always down.
The leg inverse kinematics: closed-form law of cosines, foot target to coxa, femur and tibia angles. It replaced a hand-tuned angle table that only worked for the poses already tuned.
The Docker setup for ROS 2 Humble and Gazebo Harmonic, with GPU and X11 passthrough, so the build works on any laptop.
A three-joint leg has a closed-form solution: the angles fall out of two triangles, or the target is out of reach. It runs in constant time and never fails to converge, which matters for eighteen joints every control cycle.