Robot locomotion

Robotics is an interdisciplinarity activity: whether you've practiced some signal processing, machine learning, control theory, numerical optimization, raptor hunting, etc., it helps! The following notes connect dots between the bits of knowledge I find most useful for locomotion in particular. I'd be most happy if they are a good fit for younger roboticists. Shoot me an e-mail if you find anything inaccurate or imprecise (yup, accuracy and precision are not the same thing).

All posts below assume you already know what a controller is. I imagine you've ended up here by searching for a particular topic, yet if you're rather exploring out of curiosity that's great too :-) In that case, I'd advise you start from the How do biped robots walk? overview and dig from there into any topic you find interesting.



Contact dynamics



See also




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.