Confirming Walking Algorithm through Kinematic Simulation

19 Feb 2021- Nicholas Rossi

After observing multiple flaws related to stability with the previous walking algorithm, we decided to completely remake it. Instead of moving the body and then deciding when and how to step, the robot now instead always steps if the desired body goal is outside of a certain boundary. The body pose controller is used to maintain stability or reach goals that are close to the robot.

Here is a video that shows proof of concept. https://youtu.be/F_IfZyil0oY

Now some slight issues with this algorithm will be ironed out. Next, an algorithm for stepping to turn will be designed.