constants_old.py

# Configuration parameters used by the gait
# generation algorithm.

C1 = 0.03 # Halt Position Leg Extension
C2 = 0.10 # Halt Position Leg Roll Angle
C3 = 0.055 # Halt Position Leg Pitch Angle
C4 = 0.03 # Halt Position Foot Roll Angle
C5 = 0.01 # Halt Position Foot Pitch Angle -0.025

C6 = 0.005 # Constant Ground Push  0.005
C7 = 0.0 # Proportional Ground Push
C8 = 0.05 # Constant Step Height
C9 = 0.02 # Proportional Step Height

C_tau_0 = 0 # Swing Start Timing
C_tau_1 = 2.3876 # Swing Stop Timing
C10 = 0.14 # Sagittal Swing Amplitude Fwd
C11 = 0.12 # Sagittal Swing Amplitude Bwd
C12 = 0.1 # Lateral Swing Amplitude
C13 = 0.05 # Lateral Swing Amplitude Offset
C14 = 0.015 # Turning Lateral Swing Amplitude Offset
C15 = 0.2 # Rotational Swing Amplitude
C16 = 0.05 # Rotational Swing Amplitude Offset

C17 = 0.020 # Lateral Hip Swing Amplitude

C18 = 0.03 # Forward Lean
C19 = 0 # Backward Lean
C20 = -0.07 # Forward and Turning Lean

C21 = 3.5 # Gait Velocity Limiting Norm p
C22 = 0.0035 # Sagittal Acceleration
C23 = 0.01 # Lateral Acceleration
C24 = 0.009 # Rotational Acceleration

C25 = 0.065 # Constant Step Frequency  0.065
C26 = 0.008 # Sagittal Proportional Step Frequency
C27 = 0 # Lateral Proportional Step Frequency

C28 = 0.002 # Start motion increment