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--- ece4560:biped:07gait_ph2_gen [2017/11/13 13:50] – created typos
+++ ece4560:biped:07gait_ph2_gen [2024/08/20 21:38] (current) – external edit 127.0.0.1
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+====== Bipedal Robot Locomotion: Extend Gait to Two Legs  ======
+----------------------------------------------------------------
 This week we'll complete the **DOUBLE (right-left)** phase of the gait. Keep in mind the initial joint configuration of your robot for this phase of the gait should be identical to its final configuration from the **SWING (right)** phase you have developed over the past two weeks. The **SWING (left)** and **DOUBLE (left-right)** phases are then mirror images of **SWING (right)** and **DOUBLE (right-left)**, respectively. One cycle of the full gait is accomplished by sequencing these phases together: **SWING (right)** -> **DOUBLE (right-left)** -> **SWING (left)** -> **DOUBLE (left-right)**. In other words, the right foot/leg first swings, the CoM is adjusted while both feet are in contact with the ground, the left foot/leg swings and finally the CoM is adjusted again while both feet contact the ground. The final joint configuration for the **DOUBLE (right-left)** phase should be identical to the initial configuration needed for the **SWING (left)** phase.