Differences

This shows you the differences between two versions of the page.

--- ece4560:biped:05optcntrl [2017/10/24 16:53] – 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 31: / Line 34: @@
 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
+**a.** **LEFT_FOOT** is your stance frame
 and
-**b.** **RIGHT_FOOT** is your stance foot.
+**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.
+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.