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... | |
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.
Robots for which kinematic and dynamic models are implemented.
See folder: include/towr/models/examples for more information.
| 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.