Look for the test file to make the biped robot walk

Typically: "How do I... ", "How can I... " questions
Post Reply
Nana
Posts: 9
Joined: 22 Nov 2016, 11:16

Look for the test file to make the biped robot walk

Post by Nana » 30 Nov 2016, 18:30

I'm trying to control a humanoid biped robot with Matlab and right now I can just make the movement of all the joints. I have got a lot of difficulties in making the robot walk stably. Does anyone have a test file for any biped robot like NAO or Asti or any suggests for me how to deal with that? Thanks!

coppelia
Site Admin
Posts: 6859
Joined: 14 Dec 2012, 00:25

Re: Look for the test file to make the biped robot walk

Post by coppelia » 01 Dec 2016, 15:06

Hello,

this is a difficult, task, specially if you are trying to make the robot do a non-quasi static walk.
For a quasi-static walk, you need to make sure that in each situation the robot is balanced and will not fall if the movement suddenly stops (i.e. basically have the center of mass over the contact points with the floor). The movement sequence for each joint will also depend on the robot, link length, joint arrangements, etc.

But if you take the Asti humanoid robot for instance, its joint movements are defined by two IK tasks. But you could record the joint positions for each time step, and apply them to your robot's joints in a play-back fashion.

Cheers

MYChen
Posts: 1
Joined: 01 Aug 2018, 09:25

Re: Look for the test file to make the biped robot walk

Post by MYChen » 03 Aug 2018, 08:25

hello,
Have you found the way to make biped robot such as nao walk?
I'm really appreciated.

Post Reply