Simulate and visualize different walking robot configurations and gaits.
Project description
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:
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: zach.silberstein@gmail.com
Github: @zsilberstein
Project details
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