🗺️ Bezier gait #106
Merged
🗺️ Bezier gait #106
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Purpose
The four phase gait has a sub optimal force profile and some other problems like direction changing.
By using a 12 point bezier curve from the MIT Cheetah, we can achieve more dynamic movement.
The new gait, also implements a stance and swing controller. The stance controller is using a sin curve to control step depth. The swing controller is using the 12 point bezier curve. The stance and swing curves are a combination of a translational and rotational path.
Inspiration for the gait is from Spot mini mini