| | 33 | 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 wlaking; 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. |
