annak1n / hexapod-4

Simple Hexapod Robot Control

Final project for the ETH course "Computational Models of Motion".

Code structure

We mainly modify/add code in the src/app folder.

• main.cpp, app.h
  • manage the running of "Locomotion app" & UI interaction.
• IKsolver.h
  • IKsolver class (analytical), hexobjective class (gradient-based): compute the desired joint angle given positions of end-effectors.
  • vel_objective class: compute the velocity of root position given velocities of end-effectors.
  • whole_body_objective class: compute the generalized coordinates given the desired root accelerations.
• GaitControl.h/cpp
  • compute the desired joint angle for multiple gaits, when RBJointControlMode = POSITION_MODE.
• Whole_body_control.h
  • compute the desired joint torque, when RBJointControlMode = FORCE_MODE.

UI

• gradient:

  • switch between analytical method and gradient descent method for inverse kinematics.

• compute body velocity by Jacobian:

  • switch between separate position control and uniform position control.

• add sphere terrian:

  • add sphere-like terrain to the plane.

• auto navigation:

  • start auto navigation without obstacles & sphere terrain

• auto navigation with obstacles:

  • start auto navigation with obstacles

• Start jumping:
  • start to jump
• whole body control (still under test):
  • use whole body control

Team Members

Please fill in the details of all team members. Projects can be done individually or in teams (up to 3).

Legi Number	First Name	Last Name	github username
19-942-952	Chao	Ni	chaofiber
19-950-229	Kaiyue	Shen	Skype-line
19-952-134	Ji	Shi	StoneCanSave-ETH

Final Delivery

• Our demo can be found here: video, pptx

References

[1] Chang, Qing, and Fanghua Mei. "A Bioinspired Gait Transition Model for a Hexapod Robot." Journal of Robotics 2018 (2018)

[2] Bjelonic, Marko, et al. "Keep rollin’—whole-body motion control and planning for wheeled quadrupedal robots." IEEE Robotics and Automation Letters 4.2 (2019): 2116-2123.

[3] https://scaron.info/teaching/friction-cones.html

[4] https://oscarliang.com/inverse-kinematics-implementation-hexapod-robots/

[5] Gurel, Canberk Suat. (2017). Hexapod Modelling, Path Planning, and Control.