# Tinymal-B 四足机器人

**Repository Path**: tinymal/tinymal-b-quadruped-robot

## Basic Information

- **Project Name**: Tinymal-B 四足机器人
- **Description**: 这个是Tinymal-B四足机器人的项目地址
- **Primary Language**: C++
- **License**: AFL-3.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 11
- **Forks**: 7
- **Created**: 2022-05-03
- **Last Updated**: 2025-03-27

## Categories & Tags

**Categories**: Uncategorized

**Tags**: 四足机器人, ETH, 12自由度, 直驱动

## README

# Tinymal-B Quadruped Robot

#### Tinymal-B 
This repository contains the Hardware and Software project. For a getting started guide, see the video guidence on bilibili. The software is building on the vitthe only program which depends on QT. The third-party will contain small third party libraries that we have modified. The program will be compiled and downloaded in the virtual machine. The project will start with the robot structure design, and then introduce how to complete the processing and assembly of the electrical and control system. The robot control algorithm can be quickly verified through the simulation under webots. Finally, it will be deployed based on the low-cost robot controller to make a quadruped robot at home step by step. Of course, due to the cost of general parts, the cost of the motor currently used is high, The whole cost of the robot will be higher than Unitree A1 or other commercial robot products.

#### Guide for building Hardware （Season 1）
1.  xxxx
2.  xxxx
3.  xxxx

#### Guide for building Control System （Season 2）

1.  xxxx
2.  xxxx
3.  xxxx

#### Run simulator（Season 3）

1.  xxxx
2.  xxxx
3.  xxxx

#### Run Tinymal-B & Software Building（Season 4）

1.  xxxx
2.  xxxx
3.  xxxx

#### Tuning & Developing（Season 5）

1.  xxxx
2.  xxxx
3.  xxxx

#### Dependencies:
1.  Qt 5.10 - https://www.qt.io/download-qt-installer
2.  Eigen - http://eigen.tuxfamily.org
3.  qpOASES
4.  Keil5,Vmware15,SolidWorks2020


#### Reference
1.  Tinymal机器人的B站视频地址[https://space.bilibili.com/1216724106]