Walking trajectory

Walking trajectory2

Made by Jinwook, On

DownloadDocumenthttp://www.homerobot.co.kr/kaist_soc/motion_editor_for_walking.zip ods . OpenOffice . OpenOffice . http://www.openoffice.org/download/index.html !!! .https://github.com/ojw5014/Tool/blob/master/Tool/bin/Release/%ED%80%B5%EB%B3%B4%ED%96%89(20%EC%B6%95%20%ED%9C%B4%EB%A8%B8%EB%85%B8%EC%9D%B4%EB%93%9C)_%EC%98%A8%EC%A7%84%EC%9A%B1.ods

Program

.http://www.homerobot.co.kr/kaist_soc/calibration.zip

http://www.homerobot.co.kr/kaist_soc/motion_editor_for_walking.zip [ ] .

RobotHovis Light (DST Robot) DST . , .

: 20 Hovis Light . Document kinematics Parameter .

Parameter : 4 http://embedded.seoultech.ac.kr/bbs/paper/domestic_journal/Walking%20motion%20planning%20for%20quadruped%20pet%20robot.pdf

Gate

Sway . .

. . ^^;;; .OpenLoop, .2 .4 . 4 .OpenJigWare . OpenJigWare .Hovis Light ( .) . .

Parameters .

30 30 0 -> -30 . 40 -> 10 (, )

30 mm 30 mm . .

(1/7)Document (()_20.ods) . . .

(2/7) .[] .

(3/7) . .

(4/7) . . setting .(humanoid_20.ojw )

humanoid_20.ojw .http://hovis.co.kr/guide/sw/dr-sim/[KOR]%20DR-SIM%20Setup_ver_1_4.zip DR-Sim (C:\Program Files (x86)\Dongbu Robot\DR-SIM\Robot\ .) humanoid_20.dhf .

(5/7) Ctrl ^ F10 . Config Config tool .

: ONJINWOOK -> .

. . OpenJigWare ~~~ .

(6/7) () 20 Open . . ~ .

Ctrl^V .

(7/7) Save() DR-Sim .

DR-Sim . .

Parameter 10 .

2 . . .

Parameter ( )1Gate , , Gate ( . .) . Hovis Light . (X-Offset) (Y-Offset)( )

Parameter ( )1Gate , , Gate ( . .) . Hovis Light .

!

Parameter (X-Offset)

(Y-Offset) , . 10 ~ 40 .

. . , 20 . : 0 .( )0 , 1 , 2

30 mm .0 -30

.40 10

Parameter , ms, 1000 ms 1, 2000 ? ^^;;;Percent 1000 90 90% 10% .

Sway . .

Sway Sway 1 .Sway Sway . Sway Sway 10 Sway 10 . .( .)

Parameter . . ? (Elastic) . ? .

Tilt (Foot Tilt Offset) . Sway Sway Sway . . ( 100 -_-;;;) . . . -_-;;;

.

Parameter Tilt Tilt Tilt Sway (0 )Sway Sway Sway ? Sway (0 ) Sway Offset . -_-;;; (Tilt) .. . . Passive walking ^^;;;

Parameter Offset Offset() , . . . .

. A person longing for any dream for a long time resembles that dream at last. -Andre Georges Malraux.