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automi_sim

matlab simulation of various tasks for Automi

For Turn simulation run the commands as specified in test.m: Set the values of params params = [ [15, 0];
[15, 0];
[11, 7]; [20, 0]; [25, 0]; [10, 0]]; m = Humanoid(params); m.turn_sim(obj,yawAngle,rollAngle'right_angle,left_angle);

Description of turn simulation

Function: turn_sim(obj,yawAngle,rollAngle,right_angle,left_angle) Arguments: yawAngle= angle by which the bot turns about the z-axis rollAngle: angle by which waist and torso turn about the x-axis right_angle= angle by which right knee turns about the line joining hip and foot left_angle= angle by which right knee turns about the line joining hip and foot

    Pose 1: Centre of mass shifts above the left leg
    Pose 2: Right foot rises up
    Pose 3: Right leg rotates
    Pose 4: Right foot on ground again
    Pose 5: COM shifts above right leg
    Pose 6: Left foot rises up
    Pose 7: Waist turns by angle=YawAngle
    Pose 8: Left leg rotates
    Pose 9: Left foot again on ground