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All Projects → UMich-BipedLab → Cassie_Model

UMich-BipedLab / Cassie_Model

Licence: BSD-3-Clause license
Repo containing the urdf and frost based models of Cassie

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Labels

frostcassieurdf-models

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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

  • q(1) - x
  • q(2) - y
  • q(3) - z
  • q(4) - yaw
  • q(5) - pitch
  • q(6) - roll

Left side joints

  • q(7) - hip abduction
  • q(8) - hip rotation
  • q(9) - hip flexion
  • q(10) - knee joint
  • q(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 abduction
  • q(15) - hip rotation
  • q(16) - hip flexion
  • q(17) - knee joint
  • q(18) - knee spring (constrained to 0)
  • q(19) - ankle joint (constrained to q19 = deg2rad(13) - q17)
  • q(20) - toe joint

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