Classes | Enumerations
Robots

The kinematic and dynamic model of the robot. More...

Classes

class  towr::DynamicModel
 A interface for the the system dynamics of a legged robot. More...
 
class  towr::KinematicModel
 Contains all the robot specific kinematic parameters. More...
 
struct  towr::RobotModel
 Base class for robot specific kinematics and dynamics. More...
 
class  towr::SingleRigidBodyDynamics
 Dynamics model relating forces to base accelerations. More...
 

Enumerations

enum  towr::RobotModel::Robot {
  towr::RobotModel::Monoped, towr::RobotModel::Biped, towr::RobotModel::Hyq, towr::RobotModel::Anymal,
  towr::RobotModel::ROBOT_COUNT
}
 Robots for which kinematic and dynamic models are implemented. More...
 

Detailed Description

The kinematic and dynamic model of the robot.

These models contain all the robot specific quantities in this problem.

Add your own robot

To add your own robot, you must create its KinematicModel and DynamicModel. The kinematics simply define a workspace for each end-effector. The Dynamic Model can be everything from a Linear Inverted Pendulum, SingleRigidBodyDynamics (SRBD), Centroidal Dynamics to Full-Rigid-Body Dynamics (RBD). This library provides an implementation for the SingleRigidBodyDynamics in which only the combined mass and inertia must be adapted, but other models can be used as well. For example robots to use as a guideline, see include/towr/models/examples.

Enumeration Type Documentation

◆ Robot

Robots for which kinematic and dynamic models are implemented.

See folder: include/towr/models/examples for more information.

Enumerator
Monoped 

one-legged hopper

Biped 

two-legged

Hyq 

four-legged robot from IIT

Anymal 

four-legged robot from Anybotics

ROBOT_COUNT 

Definition at line 70 of file robot_model.h.



towr
Author(s): Alexander W. Winkler
autogenerated on Mon Apr 15 2019 02:45:29