it will work.
biped.cpp download (Updated on June 1,2021)
This is the ODE main routine. Here, a 3D object is generated,
and the 3D robot is driven by the joint drive amount specified by the walking control unit below.
biped.h download
ODE main routine header file.
core.cpp download (Updated on June 1,2021)
This is the main body of the walking control unit. The three elements of walking,
① basic motion, ② postural reflex (UVC), and ③ timing control (CPG) are integrated
to generate walking motion.
core.h download (Updated on June 1,2021)
Header file of the walking control unit.
Explain the operation.
The following operations can be performed by key input.
w: Start walking
1: Experiment of applying external force
Set the experimental environment to push the robot from behind.
2: Experiment to start walking naturally
Tilt the robot's upper body forward and start walking naturally.
3: Experiment to walk on a slope (provisional specification)
The integrated value of the tilt angle of the robot is superimposed on the upper body angle to enable walking on slopes.
4: Experiment to traverse steps (provisional specifications)
If the ground contact of the swing leg cannot be detected, the knee of the support leg is bent.
5: Apply all algorithms (provisional specifications)
u: Specify UVC (upper body vertical control) enable / disable as an alternative.
When the body is blue, UVC is enabled,and when it is red, UVC is disabled.
r: Reset (return to the initial position)
q: Finished
※3-4 is a provisional specification, and there is still room for improvement.