Quadruped Dynamic Walk. Gazebo Simulations

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The Pluto (a little Dog from Kibuts Megido) quadruped robot during four different dynamic walks on the Gazebo Simulation

Gazebo Simulation #1

Trot Gait. Parameters: a=0.05 [m], b=0.03 [m], x0=0 [m], z0=-0.15 [m], n=80 [points], betha=0.75 publish ratio= 200 Hz

Gazebo Simulation #2

Trot Gait. Parameters: a=0.05 [m], b=0.03 [m], x0=0 [m], z0=-0.15 [m], n=80 [points], betha=0.5. publish ratio= up to 300 Hz

Gazebo Simulation #3

Trot Gait. Parameters: a=0.05 [m], b=0.03 [m], x0=0 [m], z0=-0.15 [m], n=80 [points], betha=0.5 publish ratio= 200 Hz

Gazebo Simulation #4

Trot Gait. Parameters: a=0.04 [m], b=0.02 [m], x0=0 [m], z0=-0.15 [m], n=80 [points], betha=0.75. publish ratio= up to 200 Hz

pluto is kicking the ball

Pluto in the Brazil 2014 world cup