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2D Kneed, Footed Walker with Temporal Ordering (5 domain)
 

Summary: 2D Kneed, Footed Walker with
Temporal Ordering (5 domain)
First evaluate this file. Then run math2mat.pl. Then switch over to MATLAB and run main.m to see a simulation.
Initialization
<< RobotLinks.m
<< RoboSolve.m
SetDirectory@NotebookDirectory@DD;
We have the following angles
q1 Stance foot
q2 Stance ankle
q3 Stance leg
q4 Non-stance leg
q5 Non-stance ankle
q6 Non-stance foot
We have the following variables:
L Length of leg
lt Length of toe
lh Length of heel
lf Position of center of mass from ankle toward toe
mf Mass of foot

  

Source: Ames, Aaron - Department of Mechanical Engineering, Texas A&M University

 

Collections: Engineering