Spryped on Ben Bokser's Blog

Stable Bipedal Walking in Simulation

Tue, 20 Jul 2021 00:00:00 +0000

In late 2019, I designed a custom QDD gearbox. Then I designed a bipedal robot with said gearing. By early 2020 I was spending about an hour per day after work coding a controller for the bipedal robot I had designed. In that time I learned a great deal of Python, and my controls proficiency skyrocketed. Then I started grad school and had to put this project on hold for about six months. But now, over a year and a half later, I’ve finally achieved stable bipedal walking in simulation.

Model Predictive Control for a Legged Robot

Mon, 12 Oct 2020 00:00:00 +0000

I have recently implemented a model predictive controller (MPC) to calculate the necessary reaction forces for a legged robot. The work presented here is based on this paper by Kim et al. If you don’t know what model predictive control is, I recommend this excellent explanation by Steve Brunton. I also found this guide to model predictive control with CasADI to be extremely helpful. CasADi is an open source nonlinear optimization tool which I’m using for MPC.

Solving for the Jacobians of a Robot Leg

Mon, 04 May 2020 00:00:00 +0000

I’m currently working on the Python code to control a simulated version of my latest bipedal robot design in PyBullet. My focus over the past few weeks was getting the operational space control to work (many thanks to Travis DeWolf’s incredibly helpful blog). After finally getting it to work properly, I have decided to share my math in the hopes of providing a useful example for anyone else having trouble with this. There really aren’t enough resources on the internet that explain this in a succinct manner.