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歩行パターンと両足支持期間の不具合修正 #33

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Yusuke-Yamasaki-555 opened this issue Mar 28, 2024 · 1 comment
Open

歩行パターンと両足支持期間の不具合修正 #33

Yusuke-Yamasaki-555 opened this issue Mar 28, 2024 · 1 comment

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@Yusuke-Yamasaki-555
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支持期間は歩行パターン生成内で行うべき。CtJSではなく。正しくはZMP軌道が両客支持期間に応じて富士山型になる。
@Yusuke-Yamasaki-555
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Yusuke-Yamasaki-555 commented Apr 21, 2024 •
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Foot Step Plannerの出力を、ロボットのローカル座標における着地位置に変更。
Walking Pattern Generatorの内部での計算を、Foot Step Plannerの変更に対応。また座標系の原点を右足着地位置ではなく、胴体中心にある重心位置の投影点に修正。これにより、内部処理が少し簡素になった。
fc85b31

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