Sequences

Locomotion Sequences

This section describes gait patterns and control routines, including timing, phase offsets, and coordination strategies used by the quadruped.

Shifting for and backward

With the power system ready, we can now connect and test the servos.

Fig. 24 Figure 1 – shifting .

move the sliders

Core Crawl

start in center position

Fig. 25 Figure 0 – Fase_00_00_center .

Frame 1

Fig. 26 Figure 1 – Fase_01_00_lift_left .

Frame 2

Fig. 27 Figure 1a – Fase_02_00_shift .

Frame 2a

Fig. 28 Figure 2 – Fase_02_01_shift .

.

Frame 3 tip_over

Fig. 29 Figure 3 – Fase_03_00_tip_over .

Frame 4 rear_down

Fig. 30 Figure 4 – Fase_04_00_rear_down .

Frame 5 lift_right

Fig. 31 Figure 5 – Fase_05_00_lift_right .

Frame 6 shift

Fig. 32 Figure 6 – Fase_06_00_shift .

Frame 6a shift

Fig. 33 Figure 6a – Fase_06_01_shift .

Frame 6b shift

Fig. 34 Figure 6b – Fase_06_02_shift .

Frame 7 tip_over

Fig. 35 Figure 7 – Fase_07_00_tip_over .

Frame 8 rear_down

Fig. 36 Figure 8 – Fase_08_00_rear_down .

Frame 9 lift_left

Fig. 37 Figure 9 – Fase_09_00_lift_left .

Frame 10 shift

Fig. 38 Figure 10 – Fase_10_00_shift .

Frame 10a shift

Fig. 39 Figure 10a – Fase_10_01_shift .

Frame 11 tip_over

Fig. 40 Figure 11 – Fase_11_00_tip_over .

Frame 12 rear_down

Fig. 41 Figure 12 – Fase_12_00_rear_down .

finished

Note

Dit is een opmerking.

Warning

Dit is een waarschuwing! ⚠️

Tip

Handige tip.

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