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LouKordos / walking_controller

The main walking controller code for the Bipedal Robot.
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Change Leg to 6 DOF to improve contact #26

Open LouKordos opened 3 years ago

LouKordos commented 3 years ago

Add another Degree of Freedom to the Ankle to fix partial contacts caused by the rotation around the body's Y axis.

LouKordos commented 3 years ago

IMPORTANT: Use something like #define NUM_JOINTS X, as suggested by @WPBack to allow quicker changes between different leg models. Related to #29 .

LouKordos commented 3 years ago

Video showing the effect here.