Foot Trajectory Library

This library contains different foot trajectory generator classes for quadruped robots. It includes SplineFootTrajectoryGenerator, SineFootTrajectoryGenerator, and BezierFootTrajectoryGenerator.

Background

The SplineFootTrajectoryGenerator class is based on the paper "Learning Quadrupedal Locomotion over Challenging Terrain". This generator uses spline interpolation to create smooth foot trajectories.

The BezierFootTrajectoryGenerator class is based on the paper "Leg Trajectory Planning for Quadruped Robots with High-Speed Trot Gait". This generator uses Bezier curves to generate foot trajectories that are optimized for high-speed trot gait.

Supported Trajectories

1. Spline Trajectory
2. Sine Trajectory
3. Bezier Trajectory

Installation

pip install git+https://github.com/aakmsk/foot_trajectory.git

Usage

First, import the desired trajectory generator class:

import numpy as np
from foot_trajectory.foot_trajectory import (
    SplineFootTrajectoryGenerator, 
    SineFootTrajectoryGenerator, 
    BezierFootTrajectoryGenerator,
    TrajectoryAnimation
)

Then, create an instance of the generator and use the compute_trajectory method to generate foot trajectories:

spline_generator = SplineFootTrajectoryGenerator(base_frequency=1.0, initial_phi=0.0)
sine_generator = SineFootTrajectoryGenerator(base_frequency=1.0, initial_phi=0.0)
bezier_generator = BezierFootTrajectoryGenerator(base_frequency=1.0, initial_phi=0.0)

t = np.linspace(0, 2 * np.pi, 100)

spline_trajectory = spline_generator.compute_trajectory(t, frequency_offset=0, width=1, height=1)
sine_trajectory = sine_generator.compute_trajectory(t, frequency_offset=0, width=1, height=1)
bezier_trajectory = bezier_generator.compute_trajectory(t, frequency_offset=0, width=1, height=1)  

This is a method of saving the trajectory of a movement as an animation.

animation = TrajectoryAnimation(spline_trajectory, save_name="spline_trajectory.gif")

License This project is licensed under the MIT License - see the LICENSE file for details.