I created a running gait for Bittle (https://youtu.be/p2K4AiaKzwM).
You can find the code at https://github.com/feiwang1206/Running-Bittle. Enjoy it!
Good job! I just validated it on my unit.
I appreciate you created the Nybble and Bittle to allow anybody can get in touch with the Boston robot dog and test their ideas. I always have the question of why all robot dogs don't/cannot run until I made the running gait myself -- running is a power-consumed and mechanical-structure-consumed gait.
I'm positive that Bittle can run faster than the current state with proper gait optimizations. How did you create the gait? Through simulation or training?
I agree that too. The gait is created through simulation by setting the following 7 postures and adjusting the time intervals among them (the code is in the Matlab file).