Week 14 - Laikago Stability Debugging

Task Goal

This week focuses on Laikago quadruped stability in PyBullet. The work investigates orientation, leg polarity, inverse kinematics, and startup control.

Folder Check

week14/
|-- README.md          # required report
|-- img/               # result screenshots
|-- code/              # recommended when source exists

Environment

• Python
• PyBullet
• Laikago URDF
• Inverse kinematics

Steps

1. Diagnose unstable landing and joint conflicts.
2. Check robot orientation and front/back leg polarity.
3. Use PyBullet inverse kinematics for foot targets.
4. Add startup buffering to reduce sudden force.

Commands

python3 pybullet_perfect.py

Result

Summary

Quadruped stability depends on control logic and physical contact. This week documents practical debugging beyond simple waveform movement.

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