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Perturbation resilient walking gait for a hybrid walking-wheeled robot

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data
 
 
CPG for One Odrive(two motors).ipynb
CPG for One Odrive(two motors).ipynb
 
 
CPG for two odrives(left and right legs).ipynb
CPG for two odrives(left and right legs).ipynb
 
 
CPG for two.mp4
CPG for two.mp4
 
 
CPG-AND-PERTURBATION-REJECTION.ipynb
CPG-AND-PERTURBATION-REJECTION.ipynb
 
 
CPG.m
CPG.m
 
 
CPG_for_2_using_EE.m
CPG_for_2_using_EE.m
 
 
Data process.opj
Data process.opj
 
 
IMG_2874.MOV
IMG_2874.MOV
 
 
Perturbation Gait.ipynb
Perturbation Gait.ipynb
 
 
Phase difference.png
Phase difference.png
 
 
Phase error when [email protected]
Phase error when [email protected]
 
 
Phase error.png
Phase error.png
 
 
README.md
README.md
 
 
Range.png
Range.png
 
 
Standard Deviation.png
Standard Deviation.png
 
 
ik_map.npy
ik_map.npy
 
 
image.png
image.png
 
 
sim_CPG.m
sim_CPG.m
 
 
theta_intL.npy
theta_intL.npy
 
 
theta_intR.npy
theta_intR.npy
 
 
x_L.npy
x_L.npy
 
 
x_R.npy
x_R.npy
 
 
y_L.npy
y_L.npy
 
 
y_R.npy
y_R.npy
 
 

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CPG-for-two-legs

The video is to show the function of CPG that moving from arbitary points and the legs will automatically go to the trejactory and follow the walking gait pace.(the leg fall behind will go faster and the leg in the front will go slower until one leg stance and one leg swing.)

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Perturbation resilient walking gait for a hybrid walking-wheeled robot

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