Learning How to Walk

29 Jan 2021- Nicholas Rossi

We determined that the motors for the robot are indeed strong enough to allow for the robot to maintain balance when completing simple movements. We confirmed this by conducting a dynamical simulation where the joint torques controlling the robot in the simulation are saturated at the motors’ stall torques.

Now we are developing the algorithm that allows for the robot to walk. Currently, we have the logical condition to execute a step movement developed. Now we are working on the controls portion of moving the leg, and planning where to step.