Changes between Version 23 and Version 24 of UserGuideGit
- Timestamp:
- Apr 8, 2016, 11:08:33 AM (10 years ago)
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UserGuideGit
v23 v24 58 58 * Z points up 59 59 60 To summurize, from the body coordinate system, the legs coordinates systems are translated by '''(x, y)''' and rotated by '''gamma''' arround Z. 61 62 The origin of a leg is defined as following, from the body coordinates system: 60 To summurize, from the body coordinate system, the legs coordinates systems are translated by '''(x, y)''' and rotated by '''gamma0''' arround Z: 63 61 64 62 [[Image(body_legs.png, 500px, nolink)]] … … 78 76 79 77 To summurize, from the robot coordinate system, the gaits coordinates systems are translated by '''(x, y)'''. 80 81 === Misc notes ===82 83 * the center of the body is above the ground; its height is defined by the legs neutral position (z)84 78 85 79 === Inverse Kinematic ===
