Customize Gait Pattern for Bittle
Hi Community!
Followed the posts in our forum I finally set up both my bittle and everything I need to run the simulation. Then I would like to start my research topic to create a customize gait pattern for the bittle.
I saw there are several posts that contain the user define gait pattern. So I would like to ask in detail how do people design a gait pattern and improve it.
The final goal for me is to create a matrix containing different numbers for the servo location like the OpenCat code.
Thanks a lot for the help!
Harry
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@Harry Xu Basically you can divide the movement into two parts: the horizontal movement (blue) and the vertical movement (orange) of the paw. This is mostly what you see, when you start the script. The vertical movement is a cosine and 0 and the horizontal movement is a piecewise defined sine. The x-axis is the number of the frame. This pattern is the same for all four legs, the only difference is, that each leg starts at a different frame. This is what is called the phase shift and it's [0, pi/2, pi, 3*pi/2] for the legs [Right Arm, Right Leg, Left Arm, Left Leg]. buildGait() generates the plot and functions below which will then be handed over to the kinematic model. As you can see the forward movement (lifted paw) happens in 25 % of the time for one period (leg -1 to leg -1). I hope this makes a few things a little bit clearer.