Dynamics Simulation with Estimated Motor Parameters

20 Nov 2020- Nicholas Rossi

The dynamical model for the robot has been completed, allowing for physical motion of the robot to be simulated. Using the joint space trajectory generator, along with and estimated model of the servo motors being used, a control system was integrated into the model, allowing for the robot to achieve desired poses within its workspace. Currently, the walking gait of the robot has not been constructed so the control system only applies to desired poses within a workspace defined by given leg contact point positions.

Heimdallr systems will now focus on writing a preliminary design document. The next goal related to control systems is to figure how the robot will take steps.