Changes between Version 4 and Version 5 of Tutorial6AddGait

Timestamp:

Dec 5, 2017, 2:23:09 PM (8 years ago)

Author:

fma

Comment:

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Tutorial6AddGait

@@ -17 +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.''
 
-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.
+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.
 
 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''':
@@ -31 +31 @@
 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 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.
+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.