Original upload date: Thu, 13 Oct 2016 00:00:00 GMT
Archive date: Mon, 06 Dec 2021 02:05:45 GMT
Control: feedback linearisation, a little bit simplified Hybrid Zero Dynamics, trajectories made using polynomials based on simple gluing together trigonometric functions (resulting in degree 7, don't
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ask), with the centre of mass in x-axis as a reference for virtual leg.
Yeah, no treadmill yet. Walking on a piece of wood-like shelf, quite slippery.
Model estimated using blackbox models of Dynamixel AX-12+ motors (schwartz2013compliant). 4 active motors in legs + 1 passive on the top (no gearbox, only encoder). Motor control: all 4 motors in 'wheel mode' - direct PWM control, by USB2Dynamixel from Matlab 2012a (Linux), about 100Hz control loop.
Feedback for when does the foot impact the ground: visual, PS3 Eye aimed almost flat, calculates the distance between each foot and its shadow (simple yet effective).
More description: http://barelywalking.com/?p=106
