https://pvela.gatech.edu/classes/ 2026-04-08T21:55:51+00:00 https://pvela.gatech.edu/classes/ https://pvela.gatech.edu/classes/lib/exe/fetch.php?media=wiki:dokuwiki.svg text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:biped:01start&rev=1724204336&do=diff Bipedal Robot Locomotion: Getting Started ---------- Motor Interface The biped is controlled using Dynamixel AX-12 and/or AX-18 motors. We have created a Matlab interface for the Dynamixel motors. This interface enables controlling the motor actuation, as well as reading motor values and parameters. There is even an associated trajectory class that takes in trajectories and can replay them.$l_0$$l_4$$l_0$$g^T_{LF}$$g^T_{RF}$$g^T_{LF}$$g^T_{RF}$ text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:biped:02plotkin&rev=1724204336&do=diff Bipedal Robot Locomotion: Kinematics and Plotting ---------- This week we'll set-up some infrastructure in your Biped Matlab class to visualize arbitrary joint trajectories relative to different (useful) frames of reference. 1. Add a new function to your class: text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:biped:03com&rev=1724204336&do=diff Bipedal Robot Locomotion: Center of Mass ---------- This week we'll continue building the Biped class and add center of mass (CoM) computations. This will be important to your ultimate goal of planar bipedal walking. 1. Add a new function to your class: text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:biped:04rrinvkin&rev=1724204336&do=diff Bipedal Robot Locomotion: Leg Resolved Rate Inverse Kinematics ---------- This week we'll use resolved rate inverse kinematics to generate joint trajectories that accomplish desired planar (workspace) trajectories for a frame on the foot of your biped. This is a useful tool and the associated tasks will take you a step closer to generating viable planar bipedal walking gaits.$\dot{x}$$\dot{y}$$\dot{\theta}$$3 \times 3$$3 \times T$$x$$y$$\theta$$T$$x$$y$$\theta$$1 \times T$$1 \times T$$3 \times… text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:biped:05optcntrl&rev=1724204336&do=diff 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.$g$$SE(2)$$g$ text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:biped:06gait_ph1_gen&rev=1724204336&do=diff Bipedal Robot Locomotion: Single Leg Quasi-static Gait ---------- Last week you used Optragen to generate an arbitrary trajectory for a chosen foot frame (relative to the TORSO frame). This week we'll begin building on that experience and take baby steps toward generating our full (quasi-static) walking gait. text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:biped:07gait_full_verif&rev=1724204336&do=diff Bipedal Robot Locomotion: Implement and Demo Full Gait ---------- Congratulations! You've made it to the final week. It's now time put your walking gaits to the test and make any necessary adjustments/corrections. 1. Attach your biped to the circular boom; this will restrict your robot to planar motion. Execute your full walking gait over the course of text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:biped:07gait_ph1_verif&rev=1724204336&do=diff Bipedal Robot Locomotion: Implement and Verify Single Leg Gait ---------- 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… text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:biped:07gait_ph2_gen&rev=1724204336&do=diff Bipedal Robot Locomotion: Extend Gait to Two Legs ---------- This week we'll complete the DOUBLE (right-left) phase of the gait. Keep in mind the initial joint configuration of your robot for this phase of the gait should be identical to its final configuration from the $SE(2)$$50$$\times 3$$= +150$ text/html 2024-08-21T01:38:56+00:00 Anonymous (anonymous@undisclosed.example.com) https://pvela.gatech.edu/classes/doku.php?id=ece4560:biped:adventures&rev=1724204336&do=diff Bipedal Robot Locomotion: Learning Adventures ---------- Assumptions: This series of adventures is predicated on concurrently taking the ECE4560 course, so that the material being explored maps to lecture and reading material. The optimal control part will diverge from the lecture material, however the underlying optimization is quite aligned with the segment on polynomial representation of curves/trajectories. To complete the adventures, you will naturally need access to the robots themselv…