Changes between Version 2 and Version 3 of Tutorial6AddGait


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Timestamp:
Dec 5, 2017, 2:14:19 PM (8 years ago)
Author:
fma
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  • Tutorial6AddGait

    v2 v3  
    1515[[Image(gaits_1.png, 300px)]]
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     17''Note: the gaits are shown using the same step speed. As we can see, wave gait is much slower than tripod gait, as it needs more steps to complete a full stride. On the other hand, there are always 5 legs on the floor, instead of 3, so the robot could carry much more weight. In real life, insects constantly switch from one gait to another, according to the task they have to do.''
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    1719Here, 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.
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