🥋 PROJECT NEO

Getting He1nz to dodge bullets like the chosen one.

Quick Start

To get started recursively clone the repository with

git clone --recursive https://github.com/DominicZahn/ROS2-Gazebo-Docker.git

It is important that the subrepositories Neo-Construct and ros2_heinz are included.

Setup and Docker Control

The general interaction with the Docker container can be seen in the subrepository Neo-Construct.

Launch Neo

Inside the docker the main 'neo' formulation can be launched with the following command.

ros2 run dodge_it_py neo

This implementation is still actively worked on so it is subject to change. Below we present the roadmap for Project Neo.

timeline
  ✅ v0.0 - Static Pose : ✅ statically stable : ✅ duck under given height
  ✅ v0.1 - Squatting : ✅ dynamically stable (ZMP) : ✅ optimal control : ✅ lower body : ✅ bilateral contacts
  ⏳️ v0.2 - Dodging : dodge formulation
  v0.3 - Stepping : dynamic Polygon of Support adjustment

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