<no title> — Kangaroo Robot Documentation

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🦿 Kangaroo Robot

Kangaroo Robot
Robot Design
Leg Actuators Specifications
Electronics Overview
Electronics components

🚀 Using the Robot

Boxing & Unboxing
Power & Charging
Emergency Halt Procedure
Battery connection
Mounting Bars
ROS 2 Requirements on Robot
Homing Procedure
Joints Calibration
FT Sensor Calibration
Motion Capture
Firmware

Web User Interface

The WebGUI
Control Center
Diagnostics
Modules
Hardware
Networking
Cyclone Interfaces
Environment

💻 Environment Setup

What is Docker?
Development on Docker
Running the Docker Container
Working with Public Repositories

🧮 Kangaroo Models

Robot Models
Kangaroo Simplified Model
Kangaroo Full Model

👾 Simulation

MuJoCo Simulation

🤖 Reinforcement Learning

Reinforcement Learning

🔧 Management

SSH Connection to the Robot
The Startup Process of the Robot and Application Management
Configure an Application to Launch at Start-up
Robot Environment and Precedence
Module Manager CLI
Deploy Software on PAL Robots
Install new software
Robot Reflection System
Listing EtherCAT Slaves and Actuator Roles
RT Device CLI
Customize the robot start-up

📡 Robot Data Acquisition & Visualization

Robot Status & Diagnostics
WebGUI
Grafana
Extracting & Visualizing Robot Data

🕹️ Controllers

Controllers Overview
Joint Trajectory Controller
- RQT Joint Trajectory Controller
Play Motion 2
Walking Controller
WBC Controller
Actuator PID Controller
Torque / Force Controller
Gravity Compensation Controller
Force Reconstruction (Wrench Estimator)
RL Policies Execution

🌐 Networking

Devices
Default Network Configuration
Accessing the Router
General Network Configuration

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Kangaroo Robot

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By PAL Robotics

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