Rise Leg Test Software

The GaitBulder tools are part of the RoboDevel platform. These tools are used to design trajectories and gaits for the RiSE robots. The tools were first designed in Mathematica, then migrated to Matlab. For an alternate description of the Gait Builder suite, see the attached file at the bottom, which contains early email correspondence.

Matlab

The Gait Builder allow you to construct a trajectory by nodes (individual time steps) and/or sections (groups of time steps). The time steps can be given as absolute (be here at this time) or relative (move thru this range at this time). After creating a gait structure, a formatted RC can be created for use in actual leg testing.

• The Matlab GaitBuilder files can be found on chewie at:
  • \\chewie\users\Climbing\TestTrackData\TestTrackSoftware\RiSESoftware\Matlab

Filename	Input	Output	Notes
climbing.m	N/A 14 leg parameters defined in file	Trajectory plot, Gait struct, nodes, 14 leg params (workspace)	COMPLETE EXAMPLE: Uses other files to create a 4 stroke full climbing gait
running.m	N/A	Gait, nodes (workspace)	COMPLETE EXAMPLE: Uses other files to create a sample 2 stroke running gait
GBanimate.m	Gait struct	Animated trajectory plot	Creates an animated 2D trajectory plot, ignoring the wing angle
GBanimate3.m	Gait struct	Animated trajectory plot	Same as GBanimate.m, with the wing angle included
GBbeta2crank.m	Beta vector	Crank vector	Convert beta to crank angle, similar to RHexLib
GBconcat.m	Gait section structs	Gait section struct	Combines gait sections into one gait section struct
GBcompile.m	Gait section structs, Gait name	Gait struct	Creates a full gait struct with absolute positions from gait section struct and gives it a name
GBexport.m	RC filename, Gait name, Gait structs	RC file (written)	Creates a formatted RC file for test use
GBfootposition.m	Crank and wing angles	Position [X,Y,Z]	Calculates the world-coordinate position of the foot for given crank and wing angles
GBname.m	Gait struct	Gait struct	Attaches a name to a gait struct
GBplot.m	Gait struct	Trajectory plot	Plots a 2D trajectory based, ignoring wing angle
GBplot3.m	Gait struct	Trajectory plot	Plots a 3D trajectory based, including wing angle
GBsection.m	Position data (crank and wing angles), Position type	Gait section struct	Creates a gait struct containing relative or absolute positions
GBwritegait.m	Gait struct, RC filename	new RC file	Appends a gait struct to a RC file
gen_custom_gait.m	Output filename, Gait parametes	RC file (written)	Creates a named RC file of a walking gait, given a data structure with the correct parameters
gen_custom_gait_4stroke.m	Output filename, Gait parametes	RC file (written)	Creates a named RC file of a 4 stroke winged-climbing gait, given a data structure with the correct parameters
copy2testtrack.sh	N/A	N/A	Copies a predetermined file (rise_beta_blimb.rc) to a predetermined location (RoboDevel/RiSE/Demo/Config/default/) on the stack, for use with a specific test (Custom Gait -> RiSE Climb) on the host GUI)
climbing2.m	N/A 14 leg parameters defined in file	Trajectory plot, Gait struct, nodes, 14 leg params (workspace)	COMPLETE EXAMPLE: Same as climbing.m, but uses a different name for use with Stanford GUI - Test Track button, also uses GBexport2.m and GBwritegait2.m
GBexport2.m	RC filename, Gait name, Gait structs	RC file (written)	Same as GBexport.m, but uses settings for Stanford Test track, namely one leg
GBwritegait2.m	Gait struct, RC filename	new RC file	Same as GBwritegait.m, but adds a semicolon(;) after structArray

Mathematica

Mathematica can be used to create a trajectory, defined by the 14 leg parameters (see RiseLegClimbingParameters or PDF file below). This notebook can also create a RC file for use in testing.
Note: To evaluate a line in Mathematica, press Shift+Enter.

• The Mathematica GaitBuilder files can be found on chewie at:
  • \\chewie\users\Climbing\TestTrackData\TestTrackSoftware\RiSESoftware\Mathematica

Filename	Notes
ClimbingGait.nb	Mathematica noteboook used to design gaits and trajectories
ClimbingGait.pdf	PDF version of notebok, for those without Mathematica
copy2testtrack.sh	Copies a predetermined file (rise_beta_blimb.rc) to a predetermined location (RoboDevel/RiSE/Demo/Config/default/) on the stack, for use with a specific test (Custom Gait -> RiSE Climb) on the host GUI)

Older Matlab code

For direct RC file manipulation, without trajectory feedback, there is a simple GUI to enter nodes of time, beta and wing data for use in leg testing.

• The older matlab program can be found on chewie at:
  • \\Chewie\users\Climbing\TestTrackData\TestTrackSoftware

Filename	Notes
rise_trajectory.m	Enter and edit nodes for trajectories to be written in formatted RC files * Enter a time, beta value and wing angle for each node * Click on Use button to include/ignore a node in the GUI * Click on Save button to write the RC file

Copying RC file to Test Setup

• On a Linux machine, use a SSH connection to copy the desired file to the proper place on the RiSE stack.
  • Use scp {filename} {login}@{fullcomputername}:{location}
    • (ie. scp filename rise@bailorgana.stanford.edu:RoboDevel/RiSE/Demo/Config/default/)
  • Enter the password for the rise account when prompted

-- AMcClung? - 11 Jul 2004