BiRo Walking

Follow installation.md for setup instructions

Basic command

Run script:

python3 main.py

Scaled biped:

python3 main.py -x 2

Step in place:

python3 main.py -vx 0

It can track velocity while moving backwards (try vx = 1.0, 1.3, 1.8)

python3 main.py -vx 1

Walk slant: (Not tuned for velocity tracking)

python3 main.py -vx 0.5 -vy 0.5

Run script with different slopes

For slope = 10:

python3 main.py -ts 10

For slope = 30:

python3 main.py -ts 30

For slope = 30 (backward walking scaled biped):

python3 main.py -ts 30 -x 2 -vx 2

Walk slant: (Not tuned)

python3 main.py -vx -0.5 -vy 0.5 -ts 30

For slope = 45, scaled biped:

python3 main.py -ts 45 -x 2

Run script with sinusoidal slopes

For slope = 30:

python3 main.py -ss 30

For random sinusoidal:

python3 main.py -ss 30 -rs 1

For random sinusoidal, scaled biped (doesn't work):

python3 main.py -ss 30 -rs 1 -x 2

Added weight mid-trajectory

Add 10% weight

python3 main.py -w 10

For slope = 30 scaled biped (backward walking with 70 Kg added weight):

python3 main.py -ts 30 -x 2 -vx 2 -w 185 -wk

For slope = 45, scaled biped (23 kg payload):

python3 main.py -ts 45 -x 2 -wk -w 55

For slope = 45 scaled biped (backward walking with 50 Kg added weight):

python3 main.py -ts 45 -x 2 -vx 2 -w 130 -wk

When the mass is added and taken off is specified in time_added, time_removed arrays in main.py

Notes:

Non-scaled biped experiments

Initial total mass = 5.47 Kg The MPC weights are not changed for these experiments

Weight added known (-wk option)

Flat ground: 6.288 Kg added (114%)​ 30 degree slope: 5 Kg added (91%)​ Negative 30 degree slope: 3.75 Kg added (68%)​ 30 degree sinusoidal slope: 1.875 Kg added (34%)​

Weight added unknown

Flat ground: 5.2 Kg added (95% )​ 30 degree slope: 4.1 Kg added (75%)​ Negative 30 degree slope: 1.64 Kg added (30%)​ 30 degree sinusoidal slope: 0.54 Kg added (10%)​

Scaled biped experiments

Weight added known (-wk option)

Initial total mass = 38 Kg The MPC weights are not changed for these experiments

Weight added known (-wk option)

Flat ground: 64.6 Kg added (170%)​ 30 degree slope: 30 Kg added (87.5%)​ 45 degree slope: 23 Kg added (57.5%)​ Negative 30 degree slope: 0 Kg added (0%)​ Negative 30 degree slope (reverse walking): 70.3 Kg added (185%)​ Negative 45 degree slope: 0 Kg added (0%)​ Negative 45 degree slope (reverse walking): 70.3 Kg added (185%)​ 30 degree sinusoidal slope: 0 Kg added (0%)​

Weight added unknown

Flat ground: 7.6 Kg added (20%)​ 30 degree slope: 1.9 Kg added (5%)​ Negative 30 degree slope: 0 Kg added (0%)​ 30 degree sinusoidal slope: 0 Kg added (0%)​

Debugging

• Still some error in the code, when argument vx = -1, the code is not clipping this to -1
• Also, the robot is not rotating. The yaw of the robot does not change