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--- ece4560:biped:05optcntrl [2017/10/24 16:46] – typos
+++ ece4560:biped:05optcntrl [2024/08/20 21:38] (current) – external edit 127.0.0.1
@@ Line 1: / Line 1: @@
+====== Bipedal Robot Locomotion: Leg Optimal Control  ======
+----------------------------------------------------------------
 The past several assignments have culminated in generation of a joint trajectory that moves a foot frame of your biped (relative to the torso frame) from one arbitrary pose in planar space, to another. You utilized resolved-rate inverse kinematics to generate the joint trajectory that accomplished this.
@@ Line 17: / Line 20: @@
 In the Optragen repository, the following demo script serves as a good contextual example to work off of and/or modify to meet your needs: Optragen/examples/pathPlanning/planar2R.m
-In the above demo script, please make sure to change 'SNOPTPATH' to be the location of the 'snopt/' directory you downloaded from Dropbox. Successfully running this script will additionally serve as validation that Optragen and SNOPT are correctly configured on your machine.
+In the above demo script, please make sure to change ''SNOPTPATH'' to be the location of the 'snopt/' directory you downloaded from Dropbox. Successfully running this script will additionally serve as validation that Optragen and SNOPT are correctly configured on your machine.
 At a minimum, you'll need to define a constraint for your starting condition and one for your ending condition. You'll also need to specify a cost function; you can define your cost function to be energy-like, similar to how the demo script already defines it.
-Generate:
+**Generate:**
 **a.** Plots of each relevant joint angle vs. time (ie. 3 plots)
@@ Line 30: / Line 33: @@
 In preparation for following weeks, please formulate the constraint that restricts the projection of the CoM (of the entire robot) to fall within a connected region on the ground (ie. your 1-D support polygon). You should express the constraint assuming:
-**a.** **LEFT_FOOT** is your stance foot and
-**b.** **RIGHT_FOOT** is your stance foot.
-No coding needed - just provide the mathematical expression for each case. You may formulate it with respect to $g$'s (ie. $SE(2)$ elements); if you do, please take time to clearly define your $g$'s.
+**a.** **LEFT_FOOT** is your stance frame
+and
+**b.** **RIGHT_FOOT** is your stance frame.
+No coding needed - just provide the mathematical expression for each case. You may formulate it with respect to $g$'s (ie. $SE(2)$ elements); if you do, please take time to clearly define your $g$'s as functions of your joint angles.