WALKING_DOF 12
Hi all,
I try to put my FanCat into operation with the Shoulder Rolls. In opencat.h there is #define WALKING_DOF 8 which I changed to 12. A first test led to my FanCat fidgeting uncontrollably.
Are there any other points to consider?
Greetings from Germany
Steffen
588 Views
the factors are the coefficient of P control (one part of PID control). It adjusts the joint angles proportional to the body orientation angles (in radian).
X leg is the joint configuration similar to humans, with elbow and knee pointing inward. >> leg is like a dog, with elbow and knee joints pointing in the same direction.
The 16 elements in the matrix are arranged as a 4x4 array, corresponding to each joint. The sub-element(pair of numbers) is the coefficient for pitch and roll angles' coefficient on each joint.
s(houlder): shoulder roll joint
u(pper): shoulder pitch joint
l(ower): knee pitch joint
R: Roll angle
P: Pitch angle
F: Factor