Walking.

Walk, Robot, Walk!
Excitement!

Walking is based on a state machine with five sequential states:

State 0- Balance on back leg with LQR, raise front leg with PID.

State 1- Hold back leg rigid, straighten front leg with PID.

State 2- Hold both legs rigid until the robot has fallen forward onto the front leg.

State 3- Balance on front leg with LQR, tuck in back leg using PID so it can swing in front without hitting the ground.

State 4- Wait a bit to stabilize.

Category:

Science & Technology

Tags:

• KDC
• LQR
• PID
• dynamics
• controls
• planar
• walking
• biped
• robot
• locomotion