Quadraped-running-machine

A quadruped running machine in webots, planned to simulate three different gaits: trotting, pacing, and bounding.

Instructions

1. Trouting

Open Quadruped-running.wbt in Webots

Open trot.c file from the controller directory in the webots editor. Don't forget to clean and make.

Control the robot with the four arrow keys, where "↑" or "↓" means forward and backward, "←" or "→" means turning left or right.

2. Bounding

Open Quadruped-running-bound.wbt in Webots

Open bound.c file from the controller directory in the webots editor. Don't forget to clean and make.

Watch our robot bound for several times.

In the process

• We've just done the "troting" gait. Now working on "pacing" and "bounding".

• Some error will show up in the consle during running but it usually dose not affect the robot.

• The current bounding gait is unstable although we've done almost everything mentioned in the article. It could be a problem caused by the differences between the air pump in the article and the linear motor that we use to simulate the properties.

• The method of estimating velocity "update-xz-dot()" might be inaccurate in bounding.

Reference

• We started our project referencing an existed one-legged-hopping-machine project

• We're also motivatied by Raiber's work back to the 1980s. Articles can be found in our reference dirctory.