How should I achieve biped walking behavior for the quadruped?

[srqqq]

Hi,
I want to achieve the biped walking behavior of the quadruped as shown in the paper or the video in the repository. The paper states that I only need to set the desired pitch angle to 90° and the desired velocity to 0.2 m/s to achieve biped walking. By modifying the code, I can make the quadruped respond to the desired velocity and small desired pitch angle. However, once the pitch angle is too large, the quadruped becomes unstable. I found the part about biped walking in the code, but this part of the function seems to be incomplete. Could you please update a demo of biped walking, or tell me what else needs to be modified? Thank you!

[lorenzo96-cmd]

To have the robot stand-up you need to customise the reference generator function. As I said in the paper you need to generate a step function for the quaternion reference and the z reference too. I don't have such function implemented in the cpp yet (I used a different code implementation for the paper) I will code it in the future but currently I'm working on other things and this has low priority. If you want to contribute to the project try to implement it and open a pull request!! I can give you some advice.
Best
Lorenzo

[srqqq]

Thank you very much! I will try again. Additionally, does achieving bipedal walking require modifying the gait, or can it be accomplished using the trot gait?

[lorenzo96-cmd]

The step frequency and duty factor of the trot are fine, but remember that you have to set to 0 the contact for the front legs to make it stand. I also suggest changing the weight for the feet z tracking, since now it is quite high, 1e5, to ensure tracking in the swing phase.