This is the repo for simulation environment based on Webots for Cury, a leg prototype for bipedal robots. Cury can only jump vertically in this environment due to the transparency test bench. Unnecessary assembles are deletes for the speed of simulation. This is also one of the supported repo for paper” Preliminary Result of Cury: A Backdrivable Leg Design using Linear Actuators ” accepted to IROS2024. Feel free to reach out if you have any problems!
This folder holds world file as well as related meshes and you can open it through Webots. No need to load Cury through protos files we provided since we have already loaded it.
This folder holds the controller for the robot in world file. A simple jumping demo is contained in this controller.
This folder holds the proto files, the format supported by Webots. Protos files used in Webots is transferred by urdf2webots.
This folder holds the urdf file. URDF is exported from SolidWorks using sw_urdf_export.
- Extra sensors are added in the environment. In reality, two encoders are all you need for jumping control.
- Cury contains two closed-loop chains. To get the right model, proto file is manually modified to add SolidReference and Webots can take care of the constraints. This is the simplest pipeline as far as we know.
- Useful methods to solve port related bugs:https://stackoverflow.com/questions/48478869/cannot-bind-to-some-ports-due-to-permission-denied.