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parameters.md

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Walk Engine Parameters

The structure Rhoban::IKWalkParameters has following parameters:

  • distHipToKnee: Leg model distance between hip and knee rotation axes (in meters).

  • distKneeToAnkle: Leg model distance between knee and ankle rotation axes (in meters).

  • distAnkleToGround: Leg model distance between ankle rotation axis and the foot center (in meters).

  • distFeetLateral: Leg model lateral distance between the two feet center (in meters).

  • enabledGain: Allows for smoothing the walk stopping and starting. =0 stops the walk. =1 starts the walk.

  • stepGain: Footstep forward (X) length (in meters). <0 goes backward. Note that you may have to find the actual value offset for the robot neutral.

  • lateralGain: Footstep lateral (Y) length (in meters). =0 goes straight. >0 makes lateral steps on the left. <0 makes lateral steps on the right.

  • turnGain: Footstep rotation angle (in radians). =0 goes straight. >0 turns on the left. <0 turns steps on the right.

  • freq: Complete walk cycle (two steps) frequency (in Hertz).

  • supportPhaseRatio: The length of the double support phase in walk cycle. =0 is full single support, no double support phase. =1 is full double support phase.

  • footYOffset: Lateral distance offset between the two foot (in meters).

  • riseGain: Foot height (Z) during flying backward to forward (in meters).

  • swingGain: Amplitude of lateral oscillation of the trunk with respect to the feet (in meters).

  • swingPhase: Phase shift used to desynchronize the lateral trunk oscillation and footsteps movement.

  • trunkXOffset: Trunk forward (X) translation with respect to the feet (in meters). >0 goes forward. <0 goes backward.

  • trunkYOffset: Trunk lateral (Y) translation with respect to the feet (in meters). >0 goes on the left. <0 goes on the right.

  • trunkZOffset: Trunk height from the ground. =0 is maximum height (in meters). >0 is lower to the ground.

  • trunkPitch: Trunk pitch (Y) orientation. >0 bends forward (in radians). <0 bends backward.

  • trunkRoll: Trunk roll (X) orientation. >0 bends on the left (in radians). <0 bends on the right.

  • swingPause:

  • swingVel:

  • stepUpVel:

  • stepDownVel:

  • riseUpVel:

  • riseDownVel:

Additional offset on left and right foot target position (in meters). They must be set to zero if not used.

  • extraLeftX
  • extraLeftY
  • extraLeftZ
  • extraRightX
  • extraRightY
  • extraRightZ Additional offset on left and right foot target orientation (in radians). They must be set to zero if not used.
  • extraLeftYaw
  • extraLeftPitch
  • extraLeftRoll
  • extraRightYaw
  • extraRightPitch
  • extraRightRoll

The extra offsets can for example be used to implement a dynamic kick on top of the walk engine.