Differences

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--- ece4560:biped:adventures [2017/09/22 00:33] – pvela
+++ ece4560:biped:adventures [2024/08/20 21:38] (current) – external edit 127.0.0.1
@@ Line 6: / Line 6: @@
 **Philosophy:** This thread is relatively new, having been introduced as part of a special topics course two years ago, and as a custom track last year. It matches the material well in terms of forward kinematics and alternative $SE(2)$ representations. There may be a small segment that utilizes the manipulator Jacobian.  You will have to code up your own class for controlling the robot.
-**Companion Code:** The SE2 class code will be needed.
+**Companion Code:** The SE2 class code will be needed.  A biped class will be needed (either the stub will be provided or it will be done from scratch).
-=====  Piktul: Learning Adventures  =====
+=====  Adventure Modules  =====
 -----------------------------------------
-Getting Started: Modeling andd Servomotor Interface!
+Module 0: Getting Started
-  - Get to know the Dynamixel Motors.
+  - [[ECE4560:Biped:01Start|Modeling and Servomotor Interface.]]
-  - Forward Kinematics of Leg: Basic Class [Torso frame of reference]
 Module Set 1: Quasi-Static Bipedal Locomotion
-  - Foot-based frame of reference + Trajectory class.
+  - [[ECE4560:Biped:02plotkin | Foot-based frame of reference + Trajectory plotting]].
-  - Center of Mass
+  - [[ECE4560:Biped:03com | Center of Mass]].
-  - Leg: Resolved rate.
+  - [[ECE4560:Biped:04rrinvkin | Leg: Resolved rate]].
-  - Leg: Optimal Control
+  - [[ECE4560:Biped:05optcntrl | Leg: Optimal Control]].
-  - Single leg quasi-static gait, CoM over 2D support polygon
+  - [[ECE4560:Biped:06gait_ph1_gen | Single leg quasi-static gait, CoM over 2D support polygon]].
-  - Implement and verify single leg gait.
+  - [[ECE4560:Biped:07gait_ph1_verif | Implement and verify single leg gait]].
-  - Extend gait to two legs: 3 gait phases (left, double, right)
+  - [[ECE4560:Biped:07gait_ph2_gen | Extend gait to two legs: 3 gait phases (left, double, right)]].
-  - Implement and demo double legged gait (attached to boom)
+  - [[ECE4560:Biped:07gait_full_verif | Implement and demo full gait (attached to boom)]].
 Module Set 2: Beyond Quasi-Static Bipedal Locomotion.
   - TBD
+---------
+;#;
+[[ECE4560:Project | Projects]] -- [[: | Main ]]
+;#;