Changes between Version 8 and Version 9 of Tutorial6AddGait
- Timestamp:
- Dec 14, 2017, 3:25:44 PM (8 years ago)
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Tutorial6AddGait
v8 v9 74 74 }}} 75 75 76 A table is no more than a list of feet positions. Or, to be more precise, a list of feet groups positions. In the case of the tripod gait, we have 2 groups of legs, each group containing 3 legs forming a tripod (2 legs of one side and 1 leg of the other side). Before we look closer of the tables, note that there is no specific start table, as we are able to reach the first walk step from the neutral position (see first line of images above).76 A table is no more than a list of feet positions. Or, to be more precise, a list of feet groups positions. In the case of the tripod gait, we have 2 groups of legs, each group containing 3 legs forming a tripod (2 legs of one side and 1 leg of the other side). 77 77 78 So, the first line of the table contains the feet positions for the first step, first tuple for the first group, second tuple for the second group. First value of tuples is the movement in the XY plane, from -1 to +1. +-1 means full stride (forward or backward), 0 means neutral position. Second value is the movement in the Z plane, from 0 to 1. 0 mean on the ground, 1 mean lifted full height. 78 ''Notes: there is no specific start table, as we are able to reach the first walk step from the neutral position (see first line of images above).'' 79 80 So, the first line of the table contains the feet positions for the first (half) step, first tuple for the first group, second tuple for the second group. First value of tuples is the movement in the XY plane, from -1 to +1. +-1 means full stride (forward or backward), 0 means neutral position. Second value is the movement in the Z plane, from 0 to 1. 0 mean on the ground, 1 mean lifted full height. 79 81 80 82 In the walk table, we have:
