We actually experimented a lot on how humans walk and tried to incorporate the exact same steps into our robot; making sure that at all the time the robot satisfies the condition for stability of the center of mass.
Front view at the top and side view at the bottom in each position
Left leg is shown in Hatched line and right leg is shown in Solid line
The leg in contact with the ground(FIXED) is shown with black color
The leg not in contact with the ground(IN AIR) is shown in blue color
The figure(Pardon me for uploading just a rough sketch made on my wall) below shows the Sketch of the robot in each position in its path
The positions 4 to 11 are repeated to generate continuous motion.
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