Script folder contains a MATLAB function and a script to calculate the gravity compensation leg position.
Data folder contains the position and posture data during the ceiling walking. The video can be downloaded as the supplement materials.
You can obtain your own compensation value by the MATLAB script.
These are the parameters you needs to modify:
-
dataGenerator.m line 20: the gravity and its direction of the whole robot
Fg
-
dataGenerator.m line 25: the size of the link
L1, L2, L3
; the half of the length and width of the robot bodylengthHF, widthHF
-
dataGenerator.m line 26: the positions of the foot
Pfc
in the body coordinate -
dataGenerator.m line 150: the stiffness of the joints
K_tq