Changes between Version 1 and Version 2 of Tutorial6AddGait

Timestamp:

Dec 5, 2017, 2:02:16 PM (8 years ago)

Author:

fma

Comment:

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Tutorial6AddGait

@@ -13 +13 @@
 For a 2-steps gait (like the tripod gait of an hexapod), this is easy to do: the group of swinging legs directly reaches it's target position from neutral, while the groups of stancing legs move back at the same time of the same amount, because they have the same distance to move. For gaits with a higher number of steps, this can't be done anymore! Let's see on a graph (only 1 complete step shown):
 
-(insert image)
+[[Image(gaits_1.png, 300px)]]
 
 Here, swinging phases are shown by dashed rising lines, stancing phases are show by plain falling lines. We clearly see that except for the tripod gait, the feet are never at neutral position all at the same time. So, before reaching the periodic cycle, we need to use a start sequence. And to quit the periodic cycle, we need to use a stop sequence, to return to neutral.
@@ -19 +19 @@
 These sequences are never mentioned in the papers talking about gaits: they where described by Edgar, a friend of mine, who helped me to solve this problem. Here is the current implementation of these start/stop sequences in '''Py4bot''':
 
-(insert image).
+[[Image(gaits_2.png, 300px)]]
 
 As you see, we use a swing phase for the legs out of phase in order to put them in the correct positions. Then, periodic cycle can be used.
@@ -25 +25 @@
 A better implementation I'm currently working on is this one:
 
-(insert image)
+[[Image(gaits_3.png, 300px)]]
 
 Here, the start/stop sequences are shorter.