Changes between Version 12 and Version 13 of Tutorial6AddGait

Timestamp:

Dec 16, 2017, 4:00:53 PM (8 years ago)

Author:

fma

Comment:

--

Tutorial6AddGait

@@ -37 +37 @@
 Here, the start/stop sequences are shorter.
 
-There is another sequence we need to talk about, as it is used in the framework: the '''hop''' sequence. It is used when we need to change the feet neutral positions while at neutral position. As said, feet can't slip, so we need to do a complete walk sequence, without really moving. Here, legs only use the swing phase. Note that it is possible to adjust the feet neutral position while walking; in this case, no need to perform a hop sequence; new feet neutral positions are used to compute the new target during the swing phases.
+There is another sequence we need to talk about, as it is used in the framework: the '''static''' sequence. It is used when we need to change the feet neutral positions while at neutral position. As said, feet can't slip, so we need to do a complete walk sequence, without really moving. Here, legs only use the swing phase. Note that it is possible to adjust the feet neutral position while walking; in this case, no need to perform a static sequence; new feet neutral positions are used to compute the new target during the swing phases.
 
 == Gait tables ==
 
-in '''Py4bot''', all steps of a gait are defined in a table. As we've just seen, there are 4 sequences (start, walk, hop, stop), so there are 4 tables. For example, let's see how the tripod gait tables look like, in the [https://framagit.org/fma38/Py4bot/tree/master/py4bot/gaits/gaitTripod.py py4bot/gaits/gaitTripod.py] module:
+in '''Py4bot''', all steps of a gait are defined in a table. As we've just seen, there are 4 sequences (start, walk, static, stop), so there are 4 tables. For example, let's see how the tripod gait tables look like, in the [https://framagit.org/fma38/Py4bot/tree/master/py4bot/gaits/gaitTripod.py py4bot/gaits/gaitTripod.py] module:
 
 {{{
@@ -60 +60 @@
         )
 
-        hopTable = (
+        staticTable = (
             (( 0., 1.), ( 0., 0.)),  # step 0
             (( 0., 0.), ( 0., 0.)),
@@ -71 +71 @@
         )
 
-        return startTable, walkTable, hopTable, stopTable
+        return startTable, walkTable, staticTable, stopTable
 }}}
 
@@ -93 +93 @@
  - second group is in swing phase in steps transitions 1 -> 2 and 2 -> 3, and is is stance phase in steps transitions 0 -> 1 and 3 -> 0.
 
-As we see, the hop table is the same table as the walk table, but the feet don't move in the XY plane.
+As we see, the static table is the same table as the walk table, but the feet don't move in the XY plane.