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| ece4560:biped:07gait_ph1_verif [2017/11/07 12:16] – created typos | ece4560:biped:07gait_ph1_verif [2024/08/20 21:38] (current) – external edit 127.0.0.1 |
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| | ====== Bipedal Robot Locomotion: Implement and Verify Single Leg Gait ====== |
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| Last week, with the help of the Optragen/SNOPT optimization framework, we designed a joint trajectory to accomplish a single phase of a quasi-static walking gait. With one foot serving as our reference/stance frame (ie. we assumed this stance foot laid flush with the ground and remained static w.r.t. the world), we defined a trajectory for the other foot frame to rise off the ground, swing forward and step back down onto the ground. Simultaneously, the CoM of the biped was restricted to remain within its support polygon. Now, you will implement and demo this gait on your actual biped robots. | Last week, with the help of the Optragen/SNOPT optimization framework, we designed a joint trajectory to accomplish a single phase of a quasi-static walking gait. With one foot serving as our reference/stance frame (ie. we assumed this stance foot laid flush with the ground and remained static w.r.t. the world), we defined a trajectory for the other foot frame to rise off the ground, swing forward and step back down onto the ground. Simultaneously, the CoM of the biped was restricted to remain within its support polygon. Now, you will implement and demo this gait on your actual biped robots. |
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| **Note(s):** | **Note(s):** |
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| **1.** While the trajectory is being executed, you may have to pin the stance foot of the robot to the ground/table using your hand. Try to pin the stance foot such that it can tip forward/backward but NOT laterally (ie. side-to-side). Remember that your models of the biped are planar; CoM constraints guard against forward-backward tipping only and that is what you want to verify. In the near future, you will demo your full gaits on a circular, planar boom that will constrain against laterally motion for you. | **1.** While the trajectory is being executed, you may have to pin the stance foot of the robot to the ground/table using your hand. Try to pin the stance foot such that it can tip forward/backward but NOT laterally (ie. side-to-side). Remember that your models of the biped are planar; CoM constraints guard against forward-backward tipping only and that is what you want to verify. In the near future, you will demo your full gaits on a circular, planar boom that will constrain against laterally motion for you. |
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