Rune Harlyk
51 lines
1.8 KiB
Markdown
51 lines
1.8 KiB
Markdown
# 🏁 Motion state controller
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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.
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## Controller Input Mapping
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The controller input is interpret different between the modes. For the walking it it looks like this:
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| Controller Input | Mapped to Gait Step | Range |
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| ---------------- | ------------------- | ------- |
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| Left x joystick | Step x | -1 to 1 |
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| Left y joystick | Step z | -1 to 1 |
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| Right x joystick | Step angle | -1 to 1 |
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| Right y joystick | Body pitch angle | -1 to 1 |
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| Height slider | Body height | 0 to 1 |
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| Speed slider | Step velocity | 0 to 1 |
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| S1 slider | Step height | 0 to 1 |
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| Stop button | E stop command | 0 or 1 |
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<!-- ### Static and dynamic posing -->
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## Walking gait
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General about walking gait
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Time step
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Phase condition
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Stance and swing controller
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## 8-phase crawl gait
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The 8-phase crawl gait works by lifting one leg at a time while shifting its body weight away from the leg.
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As the name implies, the gait consist of 8 discrete phases, which represents which feet should be contact the ground or be in swing.
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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.
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Is derived from [mike4192 spotMicro](https://github.com/mike4192/spotMicro)
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## Trot gait (12 point bezier curve)
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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.
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The stance controller implements a sin curve to control the depth of steps.
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The swing controller implements a bezier curve using 12 control points centered around the robot leg.
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Rotation is calulated using the same curve
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