Differences
This shows you the differences between two versions of the page.
| Both sides previous revisionPrevious revisionNext revision | Previous revision |
| ece4560:biped:01start [2018/09/26 14:18] – typos | ece4560:biped:01start [2024/08/20 21:38] (current) – external edit 127.0.0.1 |
|---|
| |
| 5. Flesh out the ''plotTF'' member function of the biped class. It should use the 3 functions completed for #4 and plot the robot relative to the torso frame. As long as the torso frame is not set to anything, then it should plot at the origin (meaning the torso frame is in the identity configuration). The predicted, forward kinematics left and right foot frames ($g^T_{LF}$ and $g^T_{RF}$, respectively) should each have one axis align with the feet for whatever joint angles are chosen for the manipulator. In essence, executing this function, together with plots of the reference frames should give a nicer version of the picture below. | 5. Flesh out the ''plotTF'' member function of the biped class. It should use the 3 functions completed for #4 and plot the robot relative to the torso frame. As long as the torso frame is not set to anything, then it should plot at the origin (meaning the torso frame is in the identity configuration). The predicted, forward kinematics left and right foot frames ($g^T_{LF}$ and $g^T_{RF}$, respectively) should each have one axis align with the feet for whatever joint angles are chosen for the manipulator. In essence, executing this function, together with plots of the reference frames should give a nicer version of the picture below. |
| | |
| | **Submit** Biped.m and biped_demo.m Matlab files that, when run, produce the described plot (ie. stick figure plot of the biped as well plot of the torso, left foot and right foot frames, all relative to the torso frame). |
| |
| {{ECE4560:Biped:frames.png}} | {{ECE4560:Biped:frames.png}} |
