https://github.com/UMich-BipedLab/Cassie_Model

Repo containing the urdf and frost based models of Cassie
https://github.com/UMich-BipedLab/Cassie_Model

cassie frost urdf-models

Last synced: 2 months ago
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Repo containing the urdf and frost based models of Cassie

• Host: GitHub
• URL: https://github.com/UMich-BipedLab/Cassie_Model
• Owner: UMich-BipedLab
• License: bsd-3-clause
• Created: 2017-09-26T14:56:24.000Z (over 7 years ago)
• Default Branch: master
• Last Pushed: 2019-05-30T17:51:57.000Z (over 5 years ago)
• Last Synced: 2024-08-02T00:22:34.273Z (5 months ago)
• Topics: cassie, frost, urdf-models
• Language: MATLAB
• Size: 68.1 MB
• Stars: 86
• Watchers: 8
• Forks: 24
• Open Issues: 4
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

Awesome Lists containing this project

• awesome-legged-locomotion-learning - [Cassie_FROST - FROST to generate a library of walking gaits for Cassie series robot. The code depends on [FROST](https://github.com/ayonga/frost-dev) and [C-FROST](https://github.com/UMich-BipedLab/C-Frost).  (Code / Quadrupeds)

README

        
# Cassie Model

This repository can be used to generate a model of the Cassie-series robot using [FROST](http://ayonga.github.io/frost-dev/).

## Requirements

* [MATLAB 2016b or later](https://www.mathworks.com/products/matlab.html)

* [MATLAB supported compiler](https://www.mathworks.com/support/compilers.html) for generating MEX files

* [Mathematica 11](https://www.wolfram.com/mathematica/)

* [FROST](http://ayonga.github.io/frost-dev/)

## Generating Cassie's kinematics and dynamics

1. Open the `model_gen.m` script in MATLAB.

2. Modify `FROST_PATH` to reflect your FROST installation directory.

3. Generate the Cassie FROST model by runnning the first block of code, ending at line  

   `cassie = Cassie('urdf/cassie.urdf')`.

4. Run the rest of the script to generate and export various kinematic and dynamics functions.

## Cassie coordinate system

#### Base DOFs

* `q(1)` - x

* `q(2)` - y

* `q(3)` - z

* `q(4)` - yaw

* `q(5)` - pitch

* `q(6)` - roll

#### Left side joints

* `q(7)` - hip abduction

* `q(8)` - hip rotation

* `q(9)` - hip flexion

* `q(10)` - knee joint

* `q(11)` - knee spring (constrained to 0)

* `q(12)` - ankle joint (constrained to q12 = deg2rad(13) - q10)

* `q(13)` - toe joint

#### Right side joints

* `q(14)` - hip abduction

* `q(15)` - hip rotation

* `q(16)` - hip flexion

* `q(17)` - knee joint

* `q(18)` - knee spring (constrained to 0)

* `q(19)` - ankle joint (constrained to q19 = deg2rad(13) - q17)

* `q(20)` - toe joint