Leg trajactory en gait design

Hexapod Robots

Leg trajactory en gait design

Postby r_heliman » Fri Mar 26, 2010 9:41 am

Hello,

For my project I am looking for some help for the leg trajectory. The robot is written in matlab script but until know I have a feedtip position like:
Code: Select all
        FASE=[0 0 pi/2 pi/2 pi/4 pi/4
            0 0 0 0 0 0
            0 pi pi 0 0 pi
            pi/6 2*pi/6 3*pi/6 4*pi/6 5*pi/6 pi
            2*pi/6 4*pi/6 6*pi/6 8*pi/6 10*pi/6 2*pi];
       
        legfase=FASE(gaitselect,leg);
       
        Ydir = Moving(2)*(-Sp*sin((2*pi*t)/T+legfase));
        Xdir = Moving(1)*(-0.5*Sp*sin((2*pi*t)/T+legfase));
        Turn = Moving(4)*(-Sp*sin((2*pi*t)/T+legfase));
       
        coordinates=[legoffset;OriginZ;
            Xdir*cos(legsangleofset(leg))+Ydir*sin(legsangleofset(leg));
            Ydir*cos(legsangleofset(leg))-Xdir*sin(legsangleofset(leg))+Turn;
            Fc/2*(1-cos((2*pi*t)/T+legfase))];


The FASE is to get the fase leg for each leg so that the walk in every order I want

But the Y (to the front) and x = sideways are OK, it looks nice now. But is there anything more to fine how to prescribe the leg tip position?

And is there some more info of programming different GAIT designs?

Thanks a lot
r_heliman
 
Posts: 2
Joined: Fri Mar 26, 2010 9:36 am

Re: Leg trajactory en gait design

Postby r_heliman » Tue Mar 30, 2010 9:48 am

Hi

Is there really no body who can help me with some literature or code for WAVE-gaits? And feed tip trajactory?

Thanks
r_heliman
 
Posts: 2
Joined: Fri Mar 26, 2010 9:36 am


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