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RisePrivate Web>StickyBotController? >StickyBotModel (21 Apr 2007, MarkCutkosky)
RisePrivate Web>StickyBotController? >StickyBotModel (21 Apr 2007, MarkCutkosky) -- JonathanKarpick - 01 Jun 2006
StickyBot Model
A dorsal mathematical model of StickyBot to help frame the development of gaits and control laws.Equations of Motion
The equations of motion are detailed in the attached file:Analysis
Comparing a feed-forward "gait" (a sine wave...) with a simple force averaging control law:- Pure feed-forward ankle angles and cg position:
Joints w/ Force Control OFF - Feed-forward w/ force averaging control ankle angles and cg position:
Joints w/ Force Control ON - Pure feed-forward servo commands and contact reaction forces:
Reaction forces w/ Force Control OFF - Feed-forward w/ force averaging control servo commands and contact reaction force:
Reaction forces w/ Force Control ON - Pure feed-forward hip forces/torque:
Joint Torques w/ Force Control ON - Feed-forward w/ force averaging control hip forces/torque:
Joint Torques w/ Force Control OFF
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