Differences

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--- drexel_darwin_sim [2016/11/01 15:31] – created dwallace
+++ drexel_darwin_sim [2016/11/06 20:01] (current) – dwallace
@@ Line 1: / Line 1: @@
 ====== Darwin-OP Simulation on Webots and DRC-Sim(Gazebo) ======
-== Introduction ==
+===== Introduction =====
 The Goals of my Independent Research are
-* Implementing ZMP walking on the Darwin-OP on Simulators DRC-Sim(Gazebo) and Webots.
+  * Implementing ZMP walking on the Darwin-OP on Simulators DRC-Sim(Gazebo) and Webots.
-* Darwin vision sensor: Simulate in Webots and DRC-Sim that Darwin can track position of colored ball and walk towards the ball.
+  * Darwin vision sensor: Simulate in Webots and DRC-Sim that Darwin can track position of colored ball and walk towards the ball.
-* Implementing Preview control on the Darwin-OP on Webots and DRC-Sim(Gazebo).
+  * Implementing Preview control on the Darwin-OP on Webots and DRC-Sim(Gazebo).
-== '''Goal 1 :''' Understand ZMP walking for Darwin-OP ==
+===== Goal 1 : Understand ZMP walking for Darwin-OP =====
-MY 1st step was to understand what ZMP was and defining the parameters for the Darwin-OP. This pdf gives a gist of what ZMP is and how it applies to the Darwin-OP. [[File:ZMP for the Darwin-OP.pdf]]
+MY 1st step was to understand what ZMP was and defining the parameters for the Darwin-OP. This pdf gives a gist of what ZMP is and how it applies to the Darwin-OP. {{dylanw:ZMP for the Darwin-OP.pdf}}
+  * [[drexel_darwin_zmp|ZMP based Cycloid walking algorithm for Darwin-OP]]
+  * [[drexel_darwin_walking_webots|Darwin-OP Walking Simulation on Webots]]
-*[[ZMP based Cycloid walking algorithm for Darwin-OP]]
+  * [[drexel_darwin_walking_gazebo|Darwin-OP Walking Simulation on DRC-Sim(Gazebo)]]
-*[[Darwin-OP Walking Simulation on Webots]]
+  * [[drexel_darwin_walking_plots|Darwin-OP Walking Plots obtained from Simulation]]
-*[[Darwin-OP Walking Simulation on DRC-Sim(Gazebo)]]
-*[[Darwin-OP Walking Plots obtained from Simulation]]
+===== Goal 2 : Darwin-OP tracking a Ball and walking towards the Ball =====
+  * [[drexel_darwin_ball_tracking_webots|Simulation on Webots]]
-== '''Goal 2 :''' Darwin-OP tracking a Ball and walking towards the Ball ==
+  * [[drexel_darwin_ball_tracking_gazebo|Simulation on DRC Simulator(Gazebo)]]
-*[[Simulation on Webots]]
+  * [[drexel_darwin_gazebo_walkthrough|Walkthrough Tutorial for Simulating Darwin-OP walk on Gazebo]]
-*[[Simulation on DRC Simulator(Gazebo)]]
-*[[Walkthrough Tutorial for Simulating Darwin-OP walk on Gazebo]]
+===== Goal 3 : Implementing Preview Controlled for Darwin-OP  =====
+  * [[drexel_darwin_preview_control|Understand Optimal Preview Control and generating Joint Trajectories]]
-== '''Goal 3 :''' Implementing Preview Controlled for Darwin-OP  ==
+  * [[drexel_darwin_preview_control_webots|Optimal Preview Control Simulation on Webots]]
-*[[Understand Optimal Preview Control and generating Joint Trajectories]]
+  * [[drexel_darwin_preview_control_gazebo|Optimal Preview Control Simulation on DRC-Sim(Gazebo)]] **with walk through tutorial**
-*[[Optimal Preview Control Simulation on Webots]]
-*[[Optimal Preview Control Simulation on DRC-Sim(Gazebo)]] '''with walk through tutorial'''
 ----
-'''[[Personal help]]'''
+**[[drexel_darwin_personal_help|Personal help]]**