Showcase

I thought I'd share a project I've recently done with Bittle in case anyone is interested in exploring simulation with Bittle in a non reinforcement learning application, although one could also use Mujoco for reinforcement learning also.

I used the URDF created for Bittle here. AIWintermuteAI made the URDF files for Bittle a while back, which was a great starting point to get a model of Bittle into the Mujoco simulator made by google deepmind.

My project aimed to use model predictive control (MPC) to generate optimal gait patterns to run open loop on the Bittle robot. The first step was to get a model into the simulator. To do this, I converted the URDF model to XML format for the simulator. Then I created the environment and configuration to use Mujoco Model Predictive Control (MJPC) with Bittle. MJPC was also developed by google deepmind.

MJPC effectively performs forward rollout…

@rhongzongli - I modified the bittle back with a dremel so it fits on the bot when I do not have the Pi attached. It would be nice to get a back that already has a nice cutout for the connector when ordering a presoldered connector or when someone knows they will be adding one. Maybe if every back printed with outline of a "knock-out" printed on the inside, it would allow those with the connector to precisely cut out the hold with a utility knife?

Hello All,

I have been working on an idea for a Bittle test bed. I needed a stand for my Bittle but I do not have a 3-D printer.

I came up with an idea for a stand made from Lego technic pieces. I have included images of what I have so far.

I am trying to turn it into a test bed where I can practice and investigate poses and where I can have a testing center

for sensors such as the distance center. The lego "screen" in front of the stand was used for testing the distance sensor.

While I was considering a design for this stand I was very pleasantly surprised to discover that the center beam in image 2 fits the Bittel's chassis perfectly. The beam is held to the chassis with mini zip ties. The Bittle then rests on the stand securely as shown in…