Rune Harlyk
1.8 KiB
🏁 Motion state controller
The motion controller is a finite state machine with state allowing for static and dynamic posing, 8-phase crawl and bezier bases trot gait, and choreographed animation.
Controller Input Mapping
The controller input is interpret different between the modes. For the walking it it looks like this:
| Controller Input | Mapped to Gait Step | Range |
|---|---|---|
| Left x joystick | Step x | -1 to 1 |
| Left y joystick | Step z | -1 to 1 |
| Right x joystick | Step angle | -1 to 1 |
| Right y joystick | Body pitch angle | -1 to 1 |
| Height slider | Body height | 0 to 1 |
| Speed slider | Step velocity | 0 to 1 |
| S1 slider | Step height | 0 to 1 |
| Stop button | E stop command | 0 or 1 |
Walking gait
General about walking gait
Time step
Phase condition
Stance and swing controller
8-phase crawl gait
The 8-phase crawl gait works by lifting one leg at a time while shifting its body weight away from the leg.
As the name implies, the gait consist of 8 discrete phases, which represents which feet should be contact the ground or be in swing.
At each time step the phase time t\in [0,1] is updated. When t\geq 1 the phase index is updated and phase time is reset.
Is derived from mike4192 spotMicro
Trot gait (12 point bezier curve)
The trot gait implements a phase time t\in[0,1], but instead of using contact phases we define a swing/stance ratio of phase time offset for each leg.
The stance controller implements a sin curve to control the depth of steps.
The swing controller implements a bezier curve using 12 control points centered around the robot leg.
Rotation is calulated using the same curve