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| ece4560:biped:07gait_ph1_verif [2017/11/07 12:17] – 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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