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: 24 days 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 (almost 6 years ago)
- Last Synced: 2024-11-09T05:34:35.113Z (6 months ago)
- Topics: cassie, frost, urdf-models
- Language: MATLAB
- Size: 68.1 MB
- Stars: 90
- Watchers: 8
- Forks: 24
- Open Issues: 4
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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
