Whole-body dynamics of a quadruped robot for simulation

• Task 1: position of the front-right foot given any joint angles.
• Task 2: linear and angular velocity of the front-right foot given any joint angles and joint velocities.
• Task 3: mass matrix of the system given the generalized coordinates using Composite Rigid Body Algorithm (CRBA).
• Task 4: nonlinearity of the system given the generalized coordinates and generalized velocities using the Recursive Newton-Euler Algorithm (RNEA).
• Task 5: generalized acceleration for the given generalized coordinate, velocity, and force using Articulated Body Algorithm (ABA).

Skills: Robotics · Robot Dynamics · C++ · RaiSim · CMake · GitHub