Thesis movies:
Chapter 4:
Squatting
Sagittal motion
Statically-stable walking
Walking foot plan
Static Balance with 75N pushes
Chapter 5:
Captured walking (0.2m/s)
PID controlled CoM (0.1m/s)
MPC controlled CoM (0.1m/s)
Walking foot plan
Chapter 6:
Simple walking with left, front, right and back push recovery (up to 0.4m/s)
Walking foot plan
Rough terrain of 10%
Slopes up to 0.08 rad
Model errors in masses:
Pelvis (+3kg)
Thigh (+5Kg)
Left foot (+3Kg)
Left and right feet (each +3Kg)
Model errors in lengths:
Thigh (+10cm)
System noises:
Joint position sensors (0.001 rad)
ICRA_2014
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Find wmv movie here
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