NAO Robot does Tai Chi and Walks – Multibody, Multi-Domain Physical Model in MapleSim – Maplesoft

NAO Robot does Tai Chi and Walks

In this model, four contact points are modeled at each of NAO's feet, providing contact between NAO and the ground. The contact components were created as a Modelica custom component. The inputs of NAO’s joints are specified through a 'Time Lookup Table' component inside the subsystem 'RefInputs'. Two standard motions for NAO were exported through Choreographe and can be selected in the 'Time Lookup Table' in the Data parameter. Modify the selected input file and run the simulation to see NAO either walk or do Tai Chi.

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