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drexel_darwin_sim [2016/11/01 15:31]
dwallace created
drexel_darwin_sim [2016/11/06 20:01] (current)
dwallace
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 ====== Darwin-OP Simulation on Webots and DRC-Sim(Gazebo) ====== ====== Darwin-OP Simulation on Webots and DRC-Sim(Gazebo) ======
  
-== Introduction ==+===== Introduction ​=====
  
  
 The Goals of my Independent Research are  The Goals of my Independent Research are 
-* Implementing ZMP walking on the Darwin-OP on Simulators DRC-Sim(Gazebo) and Webots.  +  ​* Implementing ZMP walking on the Darwin-OP on Simulators DRC-Sim(Gazebo) and Webots.  
-* Darwin vision sensor: Simulate in Webots and DRC-Sim that Darwin can track position of colored ball and walk towards the ball.  +  * Darwin vision sensor: Simulate in Webots and DRC-Sim that Darwin can track position of colored ball and walk towards the ball.  
-* Implementing Preview control on the Darwin-OP on Webots and DRC-Sim(Gazebo). ​+  * Implementing Preview control on the Darwin-OP on Webots and DRC-Sim(Gazebo). ​
  
  
  
-== '''​Goal 1 :''' ​Understand ZMP walking for Darwin-OP ==+===== Goal 1 : Understand ZMP walking for Darwin-OP ​=====
  
-MY 1st step was to understand what ZMP was and defining the parameters for the Darwin-OP. This pdf gives a gist of what ZMP is and how it applies to the Darwin-OP. ​[[File:ZMP for the Darwin-OP.pdf]]+MY 1st step was to understand what ZMP was and defining the parameters for the Darwin-OP. This pdf gives a gist of what ZMP is and how it applies to the Darwin-OP. ​{{dylanw:ZMP for the Darwin-OP.pdf}}
  
 +  * [[drexel_darwin_zmp|ZMP based Cycloid walking algorithm for Darwin-OP]]
  
 +  * [[drexel_darwin_walking_webots|Darwin-OP Walking Simulation on Webots]]
  
-*[[ZMP based Cycloid walking algorithm for Darwin-OP]]+  ​* [[drexel_darwin_walking_gazebo|Darwin-OP ​Walking Simulation on DRC-Sim(Gazebo)]]
  
-*[[Darwin-OP Walking Simulation ​on Webots]]+  ​* [[drexel_darwin_walking_plots|Darwin-OP Walking ​Plots obtained from Simulation]]
  
-*[[Darwin-OP Walking Simulation on DRC-Sim(Gazebo)]] 
  
-*[[Darwin-OP Walking Plots obtained from Simulation]] 
  
 +===== Goal 2 : Darwin-OP tracking a Ball and walking towards the Ball =====
  
 +  * [[drexel_darwin_ball_tracking_webots|Simulation on Webots]]
  
-== '''​Goal 2 :'''​ Darwin-OP tracking a Ball and walking towards the Ball ==+  * [[drexel_darwin_ball_tracking_gazebo|Simulation on DRC Simulator(Gazebo)]]
  
-*[[Simulation ​on Webots]]+  ​* [[drexel_darwin_gazebo_walkthrough|Walkthrough Tutorial for Simulating Darwin-OP walk on Gazebo]]
  
-*[[Simulation on DRC Simulator(Gazebo)]] 
  
-*[[Walkthrough Tutorial ​for Simulating ​Darwin-OP ​walk on Gazebo]]+===== Goal 3 : Implementing Preview Controlled ​for Darwin-OP ​ =====
  
 +  * [[drexel_darwin_preview_control|Understand Optimal Preview Control and generating Joint Trajectories]]
  
-== '''​Goal 3 :'''​ Implementing ​Preview ​Controlled for Darwin-OP ​ ==+  * [[drexel_darwin_preview_control_webots|Optimal ​Preview ​Control Simulation on Webots]]
  
-*[[Understand Optimal Preview Control and generating Joint Trajectories]] +  ​* [[drexel_darwin_preview_control_gazebo|Optimal Preview Control Simulation on DRC-Sim(Gazebo)]] ​**with walk through tutorial**
- +
-*[[Optimal Preview Control Simulation on Webots]] +
- +
-*[[Optimal Preview Control Simulation on DRC-Sim(Gazebo)]] ​'''​with walk through tutorial'''​+
  
  
 ---- ----
  
-'''​[[Personal help]]'''​+**[[drexel_darwin_personal_help|Personal help]]**
drexel_darwin_sim.txt · Last modified: 2016/11/06 20:01 by dwallace