robot-gait-vis 0.1.2

Simulate and visualize different walking robot configurations and gaits.

Robot-Gait-Vis

Robot-Gait-Vis is a python package designed to help rapidly visualize the performance of different gaits and trajectories for various types of walking robots.

Features

• Three different types of legs
• Three different types of gaits
• Rapid animation of walking robot
• Tracking and plotting of joint angles over time
• Tracking and plotting of end-effector positions over time

Installation

To install the package with pip:

pip3 install robot-gait-vis

Dependencies

In addition to python version 3.9 or newer, this project depends on the following open source packages:

• numpy
• matplotlib

Basic Usage

The following examples assume that robot-gaot-vis has been imported as rgv:

import robot_gait_vis as rgv

To create a planar leg with segment lengths of 0.5 and 1 meters:

planar_leg = rgv.PlanarLeg((0.5, 1))

To create a quadruped robot with body dimensions of 0.5 by 0.25 by 0.5 meters:

quadruped = rgv.Robot((0.5, 0.25, 0.5), planar_leg, 4)

Detailed Usage

The example.py file illustrates detailed example usage of the package. The example file generates walking motion for a simple biped robot as well as a hexapod robot and outputs the GIFs shown below.

Testing

To run tests for the project:

python3 -m unittest

Future Improvements

• Add new leg types
• Add new gaits
• Add new end effector trajectories
• Add more animation options

Have your own improvement in mind?

Feel free to fork the project and then put in a pull request with the desired improvement. Please be sure to include relevant tests in any pull request.

License

This project is licensed under the MIT License. See the LICENSE page for more information.

Author

Zach Silberstein
Email: [e-mail]
Github: @zsilberstein