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).

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

• ZMP based Cycloid walking algorithm for Darwin-OP

• Darwin-OP Walking Simulation on Webots

• Darwin-OP Walking Simulation on DRC-Sim(Gazebo)

• Darwin-OP Walking Plots obtained from Simulation

• Simulation on Webots

• Simulation on DRC Simulator(Gazebo)

• Walkthrough Tutorial for Simulating Darwin-OP walk on Gazebo

• Understand Optimal Preview Control and generating Joint Trajectories

• Optimal Preview Control Simulation on Webots

• Optimal Preview Control Simulation on DRC-Sim(Gazebo) with walk through tutorial

Personal help