Research project Footstep planning code

To run the code,

• first add the four folders "Learning the Terrain, HighLevelPlan, LowLevelPlan, Trajectory Optimization" and their subfolders into path
• then open “hexapod_bodyrugged.slx”
• finally run "RunSnakeMonsterSimulator.m"

A* on flag ground (1) turn left, turn right

y | 0.19 0.25 -0.16 hexX = -0.1 | 0.29 -0.05 -0.16 hexY = 0.2 | 0.19 -0.15 -0.16 stanceX = 0.29 --- -------> x r | o | b | o | t |

   x         y         z

1 0.1900 0.2500 -0.1600 4 0.2900 -0.0500 -0.1600 5 0.1900 -0.1500 -0.1600 2 0.1900 -0.1500 -0.1600 3 0.2900 -0.0500 -0.1600 6 0.1900 0.2500 -0.1600

low level planning (1) cost function

(2) search , constraints

(3) generate trajectory

function: any terrain height map => 100 by 100 matrix given 100 by 100 matrix => first classify n both high level and lower level (1) high level: body path (2) low level: next 4 steps

good rough terrain visualization (scale) have a cost map (10 by 10 and 100 by 100) search and plan for the six legs send the footstep to the robot and generate trajectory