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dgitz edited this page Mar 29, 2021 · 5 revisions

Introduction

Design Goals

Investigate Hexapod Robot walking motions
Mapping of indoor enviornments (SLAM)
Improvements to Navigation Planning Stack (beyond move_base)
Pose development

Risks

Model of Hexapod Robot:
- Mathematics that translates velocity twist command to leg joint commands
- Mathematics that computes the next pose of the robot given the current pose, system state and next leg joint commands
Driver for Actuators