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Force Direction Control for the 5-link biped robot

Inspiring from the reduced-order model (Trunk Spring Loaded Inverted Pendulum -TSLIP), the controller leads robot to steady walking motion.

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Description

1. Investigating the Virtual Pendulum concept from Maus.
2. Proposing the Force Direction Control to balance the floating trunk.
3. Creating the virtual trajectory for swing leg motion.
4. Mapping the concept onto the rigid body.

Details

The first walking simulation in Matlab (LCP integrator)

The simulation model is written in Matlab (ODE45)- Operation Space Control for mapping joint torques

Implementing controller in Open Dynamic Engine environment

Discussions

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