Body Position Control

Body control is an essential piece of the whole robot control. As we can see in the animal world, insects and other legged animals perform a body-based motion. They move the body and, then, legs automatically move to keep the stability while walking, running, or climbing.

As illustrated in the following video, the user (or the high-level control) establishes the body velocity. According to that velocity, legs calculate the required position using inverse kinematic.

The following video shows how the robot stands up and performs several body translations and rotations. Furthermore, it simulates how the robot suffers a sudden power outage.