This week, you will add functionality to the code from last week's assignment in order to pick up and put down the robot's feet while using the ZMP to balance:
To do so, you will need to supply trajectories for each foot based upon the timing and location of the ZMP:
You should design the foot trajectories in a physically plausible manner: this means respecting the fact that a foot can't change position or velocity instantaneously. I expect to see smooth motion as plotted above.
Webpage. Movies. Be prepared to discuss in class. You know the drill.
Also, I expect to be able to check out the turnin branch of your group's repository and grab the code for this assignment from the python/assignment6 subdirectory.