Using the Aliengo quadruped robot model, the goal was to compute different parameters with increasing difficulty.
- Exercise 1: position of the front-right foot given any joint angles.
- Exercise 2: linear and angular velocity of the front-right foot given any joint angles and joint velocities.
- Exercise 3: mass matrix of the system given the generalized coordinates using Composite Rigid Body Algorithm (CRBA).
- Exercise 4: nonlinearity of the system given the generalized coordinates and generalized velocities using the Recursive Newton-Euler Algorithm (RNEA).
- Exercise 5: generalized acceleration for the given generalized coordinate, velocity, and force using Articulated Body Algorithm (ABA).