Presentation on theme: "MEDM Package For Walking Robot. General Outline Organized for any multi-legged robot Organized for any multi-legged robot Hexapod, Quadruped, Biped, …"— Presentation transcript:
General Outline Organized for any multi-legged robot Organized for any multi-legged robot Hexapod, Quadruped, Biped, … Explicit Dynamic Calculation Explicit Dynamic Calculation Gait Planning Gait Planning New algorithm for rhythmic gait Trajectory Planning Trajectory Planning Optimal trajectory subject to maximum speed respected to stable motion Graphical interface Graphical interface Graphical gait showing
Over 2500 lines code Organized simply to coordinate for any Walking Robot Compliance structure added Linked to Simmechanic toolbox Optimized trajectory added
Over 2500 lines code Minimum possible required codes added All modules writing as function for providence
Organized for any walking robot Simply coordinating for a arbitrary walking robot structure: Add how many legs with arbitrary configuration Replaced D-H recipes with new one Direct Configuration as become more user-friendly.
Minimum slippage possibility Minimum slippage possibility Force distribution method Force distribution method Quadratic Programming Quadratic Programming Nimbly walking Nimbly walking Maximum Speed respected to stable and non-slipping motion Maximum Speed respected to stable and non-slipping motion Trajectory Planning
Stability MHS (Measure height of system) MHS (Measure height of system) ZMP (Zero moment point) ZMP (Zero moment point) FML (Force moment line) FML (Force moment line)