====== Darwin-OP Simulation on Webots and DRC-Sim(Gazebo) ======

===== Introduction =====


The Goals of my Independent Research are 
  * 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. 
  * Implementing Preview control on the Darwin-OP on Webots and DRC-Sim(Gazebo). 



===== 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. {{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]]

  * [[drexel_darwin_walking_gazebo|Darwin-OP Walking Simulation on DRC-Sim(Gazebo)]]

  * [[drexel_darwin_walking_plots|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]]

  * [[drexel_darwin_ball_tracking_gazebo|Simulation on DRC Simulator(Gazebo)]]

  * [[drexel_darwin_gazebo_walkthrough|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]]

  * [[drexel_darwin_preview_control_webots|Optimal Preview Control Simulation on Webots]]

  * [[drexel_darwin_preview_control_gazebo|Optimal Preview Control Simulation on DRC-Sim(Gazebo)]] **with walk through tutorial**


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**[[drexel_darwin_personal_help|Personal help]]**