Awesome
Cassie Model
This repository can be used to generate a model of the Cassie-series robot using FROST.
Requirements
- MATLAB 2016b or later
- MATLAB supported compiler for generating MEX files
- Mathematica 11
- FROST
Generating Cassie's kinematics and dynamics
- Open the
model_gen.m
script in MATLAB. - Modify
FROST_PATH
to reflect your FROST installation directory. - Generate the Cassie FROST model by runnning the first block of code, ending at line
cassie = Cassie('urdf/cassie.urdf')
. - Run the rest of the script to generate and export various kinematic and dynamics functions.
Cassie coordinate system
Base DOFs
q(1)
- xq(2)
- yq(3)
- zq(4)
- yawq(5)
- pitchq(6)
- roll
Left side joints
q(7)
- hip abductionq(8)
- hip rotationq(9)
- hip flexionq(10)
- knee jointq(11)
- knee spring (constrained to 0)q(12)
- ankle joint (constrained to q12 = deg2rad(13) - q10)q(13)
- toe joint
Right side joints
q(14)
- hip abductionq(15)
- hip rotationq(16)
- hip flexionq(17)
- knee jointq(18)
- knee spring (constrained to 0)q(19)
- ankle joint (constrained to q19 = deg2rad(13) - q17)q(20)
- toe joint