E-Day Around the Bend!

Its finally done. My E-Day demo is finally finished. The stand alone executable version can be found here.

The interface is pretty self explanatory. I will add a readme document with more instructions later, but you can drag the 3D portion to rotate the camera and use the arrow keys to manually move the center of gravity in interactive mode.

The algorithm ended up being very crude. Not the prettiest, but it kind of works. The end result seems to be that the program will settle on a feet configuration that is most stable for most situations. So, it will mostly be one foot forward and one foot back. Kind of an interesting result. I will be putting together at least a tech report of it soon, if not a complete conference paper. The way the system is designed, it is actually scalable to multiple feet. :D

Now I need to dig around and put together a second demo. Or simply polish up one of my semi-finished stuff.