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OCTOPUS, an hexapod from Shanghai Jiao Tong University needs to walk without a camera system on top. An encoder based SLAM is presented along with the low level functionalities. Math. principles: Projective geometry, quaternion interpolation, linear estimation, static stability principle, involutive convergence, modelling of kinematic parallel s…
Based on the original iit-coman-ros-pkg by IIT, modified launch, control and analysis files. Implementing custom controller for Walking designed by Dr. Hamed Razavi at BioRob, EPFL