Phase Plane Locomotion Planner

Made the locomotion planner to provide desired COM and feet trajectories based on the foot placement planner made by Walt.

Bipedal dynamic locomotion can be modeled with the inverted pendulum dynamics.

The dynamics of single contact inverted pendulum model is as shown.

where wq is

Here I have used the simplified decoupled model as the surface is flat for this task.

Single Contact Dynamics

Inverted Pendulum Saddle Point

The transitions on this phase portrait are intersections of two phase portrait equations.

Walking Simulation

Future Work

Use this as a desired trajectory for Whole Body Controller provided in the srcsim.