Followed the posts in our forum I finally set up both my bittle and everything I need to run the simulation. Then I would like to start my research topic to create a customize gait pattern for the bittle.
I saw there are several posts that contain the user define gait pattern. So I would like to ask in detail how do people design a gait pattern and improve it.
The final goal for me is to create a matrix containing different numbers for the servo location like the OpenCat code.
Thanks a lot for the help!
There are currently two ways:
The first one is to use the kinematic model. It will create a walking pattern with a fixed phase shift between the legs. What you can vary is the vertical amplitude (lift of the leg from ground) and the longitudinal amplitude (step length). You can also vary the torso position in height and shift the body forward and backward. The result of the script is a sequence of motor angles that can be applied to Bittle/Nybble.
This is a process of try and error, where you will have to check the performance.
The second possibility is to work on the machine learning approach, which is still under development and highly experimental. It‘s the OpenCat-Gym. There are still high differences between the simulation model and the real hardware model, that makes it problematic to apply the trained neural network (e.g. different masses, inertia, friction, latencies). But any help and development regarding this topic is welcome!
If your stuck on something, just let me know.