Robot locomotion

Robotics is interdisciplinarity: whether you're into mechanics, electronics, machine learning, control theory, numerical optimization, raptor hunting, etc., it helps! The following notes connect dots between bits of knowledge I found useful for locomotion in particular. I hope they are helpful! Shoot me an e-mail if you find anything inaccurate or imprecise (yup, accuracy and precision are not the same thing).

Where to start, you wonder? The notes below are sorted from specific to general. They assume you already know what a controller is. I imagine you've reached this page by searching for a particular topic, but if you're browsing out of curiosity that's also great :-) In that case, I'd advise you stop next at the How do biped robots walk? overview.

Walking

Models

Contact dynamics

Dynamics

Kinematics

See also

Physics

Optimization

OpenRAVE

OpenRAVE is a C++/Python robotics software for forward kinematics and inverse dynamics of robot models. It provides other features not listed here such as symbolic inverse kinematics for serial manipulators. I used it in my PhD and developed the pymanoid library to add whole-body inverse kinematics and model predictive control to it for prototyping humanoid walking controllers.

© Stéphane Caron — All content on this website is under the CC BY 4.0 license.
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