ece4560:biped:05optcntrl
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| ece4560:biped:05optcntrl [2022/11/08 15:29] – typos | ece4560:biped:05optcntrl [2024/08/20 21:38] (current) – external edit 127.0.0.1 | ||
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| 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: | 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 | + | **a.** **LEFT_FOOT** is your stance |
| and | and | ||
| - | **b.** **RIGHT_FOOT** is your stance | + | **b.** **RIGHT_FOOT** is your stance |
| 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. | 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. | ||
ece4560/biped/05optcntrl.1667939371.txt.gz · Last modified: 2024/08/20 21:38 (external edit)