@@ -42,22 +42,32 @@ Contact sequence with only one Contact Phase:
Starting from the reference configuration with both feet in contacts, the CoM is moved above the right feet (in 2 seconds) then above the left feet (in 3 seconds), then go back to the reference position (in 2 seconds).
Starting from the reference configuration with both feet in contact with the ground, the Robot do 2 steps in place with each feet (starting with the right one).
The Centroidal motion is quasi-static : the CoM only move during the double support phase (duration 2s) and is fixed during the single support phase (duration 1.5s).
Walk 1 meter forward with 20cm steps, starting with the right foot. The first and last steps are only 10cm long. Double support duration 0.2seconds, single support duration 1.2seconds.
Similar to above exept that the motion is quasistatic and the CoM only move during the double support phases. Double support duration 2 seconds, single support duration 2 seconds.