2.47 Bio-Inspired Robotics Final Project
Proposal
Simulation
Control
simulation/optimization
All torque control with bezier curves
hardware control
Get Bezier curve path of the leg from simulation/optimization and have an Impedance control (flight stage) and torque control (stance phase)
Optimization
Variables
Two Bezier curves for torques:
Starting Conditions:
Constraints
Objective Function
- First objective: maximize height to push it to go up, got the max
- Then I added to the constraints:
Updates and Results
November 23
- having trouble finding a gait
- Added starting ,,,to the optimization variables
- added andto the optimization variables
- recently added tf as it changed the dynamics
- Moving to casadi instead of fmincon (maybe the derivatives will help)
- lots has to be changed as it does not support branching statements they have discontinuous derivatives, that affect the two functions
discrete_impact_contact
andjoint_limit_constraint
insimulate_leg.m
- first the angle constraints has to be added as constraints
- second the simulation has to be divided into three stages: stance flight and stance again. The tf of each of these stages will be come an optimization variable as well
- lots has to be changed as it does not support branching statements they have discontinuous derivatives, that affect the two functions








November 12: First Hop


TODO and Questions
- script to calculate before and after adding spring
- Optimize with springs
-
get real physical variables
- angle limits
- masses
- torques limits
- the friction coefficients
- try other starting conditions
- is velocity calculation correct?
- what if it torque not enough
-
for the control should (cyclical control?)