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SetupBipedRobotS.m
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SetupBipedRobotS.m
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%%% SetupBipedRobotS.m
%%% Set biped robot structure of Figure 2.19, 2.20
%%% Field definition: Table 2.1 Link Parameters
global uLINK
ToDeg = 180/pi;
ToRad = pi/180;
UX = [1 0 0]';
UY = [0 1 0]';
UZ = [0 0 1]';
uLINK = struct('name','BODY' , 'm', 10, 'sister', 0, 'child', 2, 'b',[0 0 0.7]','a',UZ,'q',0);
uLINK(2) = struct('name','RHIP_Y' , 'm', 5, 'sister', 8, 'child', 3, 'b',[0 -0.1 0]' ,'a',UZ,'q',0);
uLINK(3) = struct('name','RHIP_R' , 'm', 1, 'sister', 0, 'child', 4, 'b',[0 0 0]' ,'a',UX,'q',0);
uLINK(4) = struct('name','RHIP_P' , 'm', 5, 'sister', 0, 'child', 5, 'b',[0 0 0]' ,'a',UY,'q',0);
uLINK(5) = struct('name','RKNEE_P' , 'm', 1, 'sister', 0, 'child', 6, 'b',[0 0 -0.3]' ,'a',UY,'q',0);
uLINK(6) = struct('name','RANKLE_P' , 'm', 6, 'sister', 0, 'child', 7, 'b',[0 0 -0.3]' ,'a',UY,'q',0);
uLINK(7) = struct('name','RANKLE_R' , 'm', 2, 'sister', 0, 'child', 0, 'b',[0 0 0 ]' ,'a',UX,'q',0);
uLINK(8) = struct('name','LHIP_Y' , 'm', 5, 'sister', 0, 'child', 9, 'b',[0 0.1 0]' ,'a',UZ,'q',0);
uLINK(9) = struct('name','LHIP_R' , 'm', 1, 'sister', 0, 'child',10, 'b',[0 0 0]' ,'a',UX,'q',0);
uLINK(10)= struct('name','LHIP_P' , 'm', 5, 'sister', 0, 'child',11, 'b',[0 0 0]' ,'a',UY,'q',0);
uLINK(11)= struct('name','LKNEE_P' , 'm', 1, 'sister', 0, 'child',12, 'b',[0 0 -0.3]' ,'a',UY,'q',0);
uLINK(12)= struct('name','LANKLE_P' , 'm', 6, 'sister', 0, 'child',13, 'b',[0 0 -0.3]' ,'a',UY,'q',0);
uLINK(13)= struct('name','LANKLE_R' , 'm', 2, 'sister', 0, 'child', 0, 'b',[0 0 0 ]' ,'a',UX,'q',0);
[uLINK(1).vertex,uLINK(1).face] = MakeBox([0.1 0.2 0.4] ,[0.05 0.1 -0.05] ); % BODY
[uLINK(7).vertex,uLINK(7).face] = MakeBox([0.2 0.1 0.02] ,[0.05 0.05 0.05]); % Foot
[uLINK(13).vertex,uLINK(13).face] = MakeBox([0.2 0.1 0.02] ,[0.05 0.05 0.05]); % Foot
FindMother(1); % Find mother link from sister and child data
%%% Substitute the ID to the link name variables. For example, BODY=1.
for n=1:length(uLINK)
eval([uLINK(n).name,'=',num2str(n),';']);
end
uLINK(BODY).p = [0.0, 0.0, 0.65]';
uLINK(BODY).R = eye(3);
ForwardKinematics(1);
uLINK(BODY).v = [0 0 0]';
uLINK(BODY).w = [0 0 0]';
for n=1:length(uLINK)
uLINK(n).dq = 0; % joitn speed [rad/s]
end
global AxisLimitInfo
AxisLimitInfo.xl = [-0.7 0.7];
AxisLimitInfo.yl = [-0.7 0.7];
AxisLimitInfo.zl = [0.1 1.2];