RiSE Test Leg Climbing Parameters

A climbing gait is composed of 14 parameters, defined in 4 separate groups: time-related, beta space, wing angle, and control.
See CONVENTIONS.txt for definition of crank and wing coordinate frames.

• Time-related parameters
  • P: cycle time (seconds)
  • AttDF: attachment duty factor within one cycle (between 0 and 1)
  • StaDF: stance duty factor within one cycle (between 0 and 1)
  • DetDF: detachement duty factor within one cycle (between 0 and 1)

• Beta space parameters (between 0 and 1) (Climbing involves CCW rotation, so negative values are used)
  • AttBetaOffset: attachment starting point relative to absolut zero point
  • AttBetaSweep: relative beta length of attachment motion
  • StaBetaSweep: relative beta length of stance motion
  • DetBetaSweep: relative beta length of detachment motion

• Wing angle parameters (unit: degree) (see CONVENTIONS.txt clarification)
  • AttWingOffset: attachement starting wing angle relative to absolute zero angle
  • AttWingSweep: wing angle change during attachment period
  • StaWingSweep: wing angle change during stance period
  • DetWingSweep: wing angle change during detachment period

• Control parameters
  • Kp: proportional gain
  • Kd: derivative gain

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-- YongLaePark - 14 Jul 2004