Compass Gait Bipedal Robot with Computer Torque Control (CTC)

Basic compass gait model simulation with computer torque control for reference trajectories

This is another small project for a robotics module at uni.
It takes a basic model of a compass gait walking robot derived from Lagrangian Mechanics and applies computer torque control to follow desired trajectories.

First, the Trajectory_Planner file is run that creates the desired trajectories of the Swing Foot Heel (position, velocity and acceleration) in Cartesian as well as joint space. The CTC needs the Qdot and Qdotdot information as its input.

The desired trajectories are created using piecewise cubic splines (based on initial, intersection and final conditions). It also looks at the Cartesian to joint transformation (The J matrix) to ensure that it is well-posed; i.e within the working envelope.

Afterwards, run the Simulink model that has all the function blocks including a Forward Kinematics block that gets the Cartesian position by using joint information.

There is also a file to display the results in an animation. It uses the joint information (from Simulink results) and performs forward kinematics to get all positions and draws it.

NOTE - ALL THE SIMULATION DATA IS FOR ONE SECOND ONLY AND THE FOOT IMPACT IS NOT MODELLED. HOWEVER, IT CAN BE DONE BY CONSIDERING PRE-IMPACT AND POST-IMPACT CONDITIONS AND CONSERVATION OF ANGULAR MOMENTUM.

For a full compass gait model; check this:
http://www.birl.ethz.ch/education/BIMC2012/uploads/compass_gait_mwe.m