State Machine Testing HopperBot скачать в хорошем качестве

State Machine Testing HopperBot

Demonstration of the real-time C++ state machine driving a boom-arm constrained single-leg Minitaur hopper. This system uses an EtherCAT master (Acontis EC-Master) to manage high-frequency flight mechanics, foot placement, and virtual spring-damper landings. State Machine Breakdown: State 1 & 11 (Initialization & Retraction): The leg commutes to its zero position, extends to 0.24m, and retracts to a safe 0.17m starting length. State 2 (Jump Motion): The force controller pushes the leg to 0.29m with up to 80N of radial force, launching the robot into the air. State 22 & 23 (Apex & Raibert Control): In flight, a low-pass filter detects the jump's apex. The controller calculates horizontal velocity and sets the target landing angle. State 3 & 4 (Landing Pose & Soft Touchdown): The leg swings to the target angle. Motor force is intentionally capped at 50N to safely "feel" for the ground without violently air-kicking. State 5 & 51 (Midstance & Energy Injection): Upon impact, the 50N limit is lifted, and the motors act as a stiff virtual spring to absorb the shock. At midstance, energy is injected to propel the next hop. State 100 (Shutdown): Once the target hop count is reached, the leg retracts, and the drives safely power down.