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Cassie Model

This repository can be used to generate a model of the Cassie-series robot using FROST.

Requirements

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

Left side joints

Right side joints

<p align="left"> <img src="urdf/cassie_coordinates.png" width="350" title="Cassie's coordinates"> </p>