Trajectory Generation and Dynamics Start

13 Nov 2020- Nicholas Rossi

This week, the trajectory generator was completed. The trajectory generator solves for leg joint angles that give a desired body position and orientation. In order to accomplish this, the existing inverse kinematics model was used to provide an analytical solution in terms of joint angles. With a Newton- Raphson numerical solving method, the joint angles can be solved for that satisfy the desired body pose. Each leg’s contact point and the body’s position and orientation are used as constraints, which allow for the joint angles to be solved for.

Currently the system dynamics are being solved for. Ideally, an open loop simulation with gravity effects should be completed soon.