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

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Wangbaiyue007/quadruped-running-machine-webots

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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.

trot

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.

bound

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.

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

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