16-711 Kinematics, Dynamics and Controls

Assignment #2

3_step_thumb2balance_thumb2Planar Biped Simulation and Control

 

 

 

 

 

 

 

 

 

 

 

 

Group Members:

Tom Goff

Joshua Chung

Andrew Baldwin

 

(Use this to make any simulation more interesting!)

 

 

 

Part 1: Simulator for a Planar Biped

 

 

Part 2: Planar Balance control

2a: Manually design controller to balance biped in the fore/aft (pitch) direction while standing.

2b: Use LQR design technology to design a controller for standing balance. Q = I, R = I.

 

 

Part 3: Planar walking control

 

 

Movie Compilation (in two formats)

           MP4                     FLV

stand_fall_thumb210step_thumb.JPG