- Language, Frameworks -> Matlab, ROS
- Algorithms/Knowledge -> Stability, Crawl gait, Cosine & Quintic trajectories, Kinematics
- Things Done (7)
- Stability of Quadruped robot is analysed.
- Parameters like height of COM, stride length etc. were optimally selected based on analysis of workspace (range) of leg.
- Crawl gait was used for walking on plane surface.
- Different leg trajectories (in Walking direction) were compared and finally quintic polynomial trajectory was selected based on effectiveness.
- Kinematic simulation of quadruped was done to confirm above work.
- Quadruped was designed in solid works and was simulated to check collisions.
- Finally, a real quadruped was controlled by driving dinamixel motor through ROS. Quadruped was able to walk as same in simulation.