Stiffness Isn't Everything Gill A. Here, the control algorithm for the motion of the robot is programmed. Leg trajectory generation is also programmed, where the foot follows a straight line, and joint trajectories are PD controlled. Ground contact model class: Skip to search form Skip to main content. Tsagarakis , Auke Jan Ijspeert. 
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TsagarakisAuke Jan Ijspeert. Some ground contact points are defined in the robot and calls to the ground contact model, ground profile and controller are performed. Download and Install the Yobotics! Krupp and Victor Ragusila and John R.
It defines the shape of the ground, i. Screen capture of the Yobotics Simulation Construction Set software package.
Yobotics simulation construction set download
PrattMatthew M. WilliamsonPeter DilworthJerry E.
Skip to search form Skip to main content. References Publications referenced by this paper.
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The exact same software that controls the simulated robot also controls the real robot and the user input GUI is the same for yobktics.
Design of a bipedal walking robot Jerry E. Stiffness Isn't Everything Gill A. PrattBenjamin T. TsagarakisZhibin LiDarwin G. Citations Publications citing this paper.
The software for running the SILO4 simulation is completely free. Contains functions for setting the parameters of the simulation, such as the integration time step, camera position, variables initially plotted in the graphs, etc. PrattAnne Wright. The resulting simulation shows a 3D motion of the robot and at the same time numerical and graphical simulation data is displayed see next figure.
The robot is a twelve degree-of-freedom si,ulation with force controllable Series Elastic Actuators at each degree of freedom. Leg trajectory generation is oybotics programmed, where the foot follows a straight line, and joint trajectories are Similation controlled.
Exploiting inherent robustness and natural dynamics in the control of bipedal walking robots Jerry E. The robot can recover from moderate disturbances and walk on flat ground.
The robot consists of a tree of joints and links with shape, colour, mass and inertia. A general whole-body compliance framework for humanoid robots Luca ColasantoNikolaos G. The 3D linear inverted pendulum mode: By clicking accept or continuing to use the site, you agree to the terms outlined in our Privacy PolicyTerms of Serviceand Dataset License.
PrattJohn CarffSergey V.
Figure 3 from The Yobotics-IHMC Lower Body Humanoid Robot - Semantic Scholar
PrattRuss Tedrake. Figures and Topics from this paper. The simulation has been programmed in Java and it is organized into the following classes simulatioj next figure.
The model used for the SILO4 simulation is a spring-dumper in the x, y, z directions. Defines the geometry and dynamics of the robot.
TsagarakisDarwin G. Control algorithms utilize Virtual Model Control, and foot placement is determined using Capture Regions. It also relates the simulation with sinulation SILO4 robot.
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