Date: 21 Feb - 27 Feb
After last week’s research, we now have the theoretical knowledge to complete the simulation of three actions. By setting the pitch angle, yaw angle, and roll angle, the angles that motors need to rotate can be calculated. Thus, three actions can be completed. The last task is to complete the writing of the code. In addition, we started the design work for the poster. In the poster, we will explain how the simulation works, and the final result will also be revealed.
Date: 14 Feb - 20 Feb
At the supervisor meeting on Monday, we identified the actions to be done by the simulation. There are three motions in total, pitch motion, yaw motion, and roll motion. We have learned the correct way to control the robot to complete the action by consulting the data. Before the research, we thought the simulation of an action is the combination of simple movements of multiple joints. In fact, the correct theory should be to control the motor by calculating the coordinates of each key point on the robot body before and after the movement. The three actions we chose apply the idea of the simulation in three directions of space, respectively. This method requires modeling the robot and applying transformation matrices to calculate the hip and foot positions.
Date: 7 Feb - 13 Feb
In a meeting with aa on Monday, aa set us a new task to make a gantt chart. The gantt chart makes the structure of our project clearer, and also allows members to collaborate with each other and allocate time more easily. Also our main task this week is to select the model we want to simulate and import the quadruped robot model file into pybullet. Learn how to use pybullet to simulate manipulating a robot. After the previous work is done, we plan everyone to try to write some simple code to make the robot move. For example, manipulating a joint of a robot and bending it.
Date: 31 Jan - 6 Feb
During the group discussion and work in week 1, we downloaded the software to be used and configured the development environment of the project.
The purpose of this project is to use software to simulate the movement of a quadruped robot, so a suitable development environment is very important. In addition, the team members learned how to use GitHub for development collaboration, especially the git function, which will be very helpful for future work.
This is the beginning of the project, no major code parts are involved. So the first week was not very difficult.