About this document
Project1 Atlas DCM Assignment by Oliver Colombini Ljungberg is a document available to read on EtoBox.
The document discusses locomotion planning using the Divergent Component of Motion (DCM) method. It provides equations that model the DCM and center of mass dynamics. The DCM planning block generates a reference DCM trajectory given constant center of pressure positions. This trajectory is used to find the center of mass trajectory via integration. Contact forces are also used to calculate the zero moment point for balance evaluation. The reader is asked to implement DCM planning, test it, and answer questi
- Author
- Oliver Colombini Ljungberg
- Language
- EN