Simulation-of-Walking-Biped

Simulation of a walking biped in ROS-Gazebo.

Launch the simulation

To start the simulation you have to launch the following commands:

>> catkin_make
>> roslaunch biped_sensor gazebo.launch

To move the biped you have to move in the directory /biped_control/src and launch the command (for C++ node):

>> rosrun biped_sensor walk <initial_foot> <#_steps> <directory_CSV>

where you have to replace <initial_foot> with the letter of the foot with which you want to start the walk (R / L), <#_steps> with the number of steps and <directory_CSV> with the name of one of the directories contained in /src, they respresent the different shapes of walk studied. An example of a possible command is:

>> rosrun biped_sensor walk R 3 SLWAVR_SINw50h45dCM11i20