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robot takes 3 steps and falls after 3rd step

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jazz committed 2026-08-04 05:28:14 -05:00
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commit 546e5b425a
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dat/W1.m
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@@ -19,19 +19,19 @@ q = 0 : 1: COUNT - 1; % set precision. e.g. q = 0 : 0.001 : COUNT-1; for 1e-3 pr
% of each array is to be equal to the value of COUNT.
%% TRACKS: Left Leg Joints X, Y, Z%%
tr_LHipY = [0, -0.14 * pi, -0.14 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi]; % positive: move foot back
tr_LHipX = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: move foot inward
tr_LHipY = [0, -0.14 * pi, -0.14 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.38 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi]; % positive: move foot back
tr_LHipX = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, -0.01 * pi, -0.01 * pi, -0.01 * pi, -0.01 * pi, -0.01 * pi]; % pos: move foot inward
tr_LHipZ = zeros(1, COUNT); % pos: move knee left (c-clockw)
tr_LKneeY = [0, 0.375 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi]; % pos: bend knee normally
tr_LAnkleY = [0, -0.2 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi, -0.25 * pi]; % pos: point toes down (pitch)
tr_LAnkleX = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: right side of foot down
tr_LAnkleX = [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: right side of foot down
%% TRACKS: Right Leg Joints X, Y, Z%%
tr_RHipY = [0, -0.14 * pi, -0.14 * pi, -0.14 * pi, -0.14 * pi, -0.28 * pi, -0.42 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi, -0.28 * pi]; % positive: move leg back
tr_RHipX = [0, 0, 0, -0.05 * pi, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; % pos: mv foot in
tr_RHipZ = zeros(1, COUNT); % pos: mv c-clockw
tr_RHipX = [0, 0, 0, -0.05 * pi, 0, 0, 0, 0, 0, -0.05 * pi, 0, 0, 0, 0, 0, 0]; % pos: mv foot in
tr_RHipZ = zeros(1, COUNT); % pos: mv c-clockw
tr_RKneeY = [0, 0.375 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi, 0.55 * pi]; % pos: bend knee