Gait generation on humanoid robot simulation

3D Humanoid robot simulation, simulated robot physics, 3D models, Humanoid robot Art
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Gait generation on humanoid robot simulation

Post by Moster » Mon Dec 13, 2010 6:49 am

Post by Moster
Mon Dec 13, 2010 6:49 am

Hi, everyone..

I have developed my humanoid simulation program. I also want to make my robot walk in the simulation. However I don't know how to do it, now I can move each joint of the robot but not have any gait generation module yet.
Have anyone can give me a guideline to develop the gait generation...
Hi, everyone..

I have developed my humanoid simulation program. I also want to make my robot walk in the simulation. However I don't know how to do it, now I can move each joint of the robot but not have any gait generation module yet.
Have anyone can give me a guideline to develop the gait generation...
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Post by limor » Mon Dec 13, 2010 5:01 pm

Post by limor
Mon Dec 13, 2010 5:01 pm

you need to read up about ZMP and other approaches.
(great subject, but unfortunately i dont have time to elaborate now :( )
you need to read up about ZMP and other approaches.
(great subject, but unfortunately i dont have time to elaborate now :( )
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Post by i-Bot » Mon Dec 13, 2010 6:44 pm

Post by i-Bot
Mon Dec 13, 2010 6:44 pm

Some useful introduction slides here on the Darwin-OP site:
http://sunet.dl.sourceforge.net/project/darwinop/Tutorials/DARwIn-OP_UPenn_Tutorial.pdf
Source code is also now there too for the UPenn software.
Some useful introduction slides here on the Darwin-OP site:
http://sunet.dl.sourceforge.net/project/darwinop/Tutorials/DARwIn-OP_UPenn_Tutorial.pdf
Source code is also now there too for the UPenn software.
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