Darwin-OP Simulation on Webots and DRC-Sim(Gazebo)
The Goals of my Independent Research are
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.
Implementing Preview control on the Darwin-OP on Webots and DRC-Sim(Gazebo).
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. zmp_for_the_darwin-op.pdf
Goal 2 : Darwin-OP tracking a Ball and walking towards the Ball
Goal 3 : Implementing Preview Controlled for Darwin-OP