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drexel_darwin_sim

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Darwin-OP Simulation on Webots and DRC-Sim(Gazebo)

Introduction

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

*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

'''Goal 2 :''' Darwin-OP tracking a Ball and walking towards the Ball
'''Goal 3 :''' Implementing Preview Controlled for Darwin-OP
drexel_darwin_sim.1478039513.txt.gz · Last modified: 2016/11/01 15:31 by dwallace