Generation of trajectory for walking

We actually experimented a lot on how humans walk and tried to incorporate the exact same steps into our robot; making sure that at all the time the robot satisfies the condition for stability of the center of mass.

The figure(Pardon me for uploading just a rough sketch made on my wall) below shows the Sketch of the robot in each position in its path

  • Front view at the top and side view at the bottom in each position
  • Left leg is shown in Hatched line and right leg is shown in Solid line
  • The leg in contact with the ground(FIXED) is shown with black color
  • The leg not in contact with the ground(IN AIR) is shown in blue color

  •  The positions 4 to 11 are repeated to generate continuous motion.

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