Development of Tele-Operated Quadrupedal Robotic Platform for Disaster Response

The RPC was implemented successfully on the MIT Cheetah 3 robot platform. The optimization is solved using the freely available IPOPT NLP solver [18] interfaced in C . It runs on a separate thread, but on the same ADL embedded Quad core PC with a 2nd Gen Core i7 CPU as the main control loop as described in [4]. As mentioned throughout the report, the RPC runs asynchronously to the main control loop. Therefore while the control loop runs at a fixed 1kHz, the RPC solution time varies based on computing power available.