Framework Architecture Documentation

Documents

Complete Documentation

The complete documentation with the project description, the overview figures and tables, and the module descriptions can be found here.

Framework Architecture

The PDF can be downloaded here.

Module Descriptions

In the following you can access the individual module descriptions:

• Foot Step Planner Module (FSPM)
• Real Robot Module (RRM)
• Forward Kinematics Module (FKM)
• Zero Moment Point Module (ZMPM)
• Center of Mass Module (CoMM)
• Divergent Component of Motion Module (DCMPSM)
• Foot Trajectory Generator Module (FTGM)
• Center of Mass Trajectory Generator Module (CoMTGM)
• Foot Compliance Module (FCM)
• Balancer Module (BM)
• Command Generator Module (CMDGEN)
• Inverse Kinematics Module (IKM)

Type Classes

The PDF can be downloaded here.

Nomenclature and Naming Conventions

The summary of the nomenclature and nameing conventions can be found here.

Acknowledgment

This project has received funding from the European Union‘s Horizon 2020 research and innovation programme under grant agreement No 732287.