Generate shorter walking trajectories
Shorter walking sequences could enable us to have working trajectories, allowing us to work by incrementally improving the motion execution with reduced risk of breaking the robot, until we are satisfied enough to test longer trajectories.
The idea is to replicate the existing trajectories but with fewer steps: 4 should be enough, i.e. 2 right-support-phase and two left-support-phase.
These are the specifications:
- PG: Kajita 2003
- Timing: DSP=20ms, SSP=780ms
- Step lengths:
- 0cm (walking on spot)
I am now thinking that, when we first ran the trajectories, they did not work right at the first try: we had to play a bit with DSP and SSP. Maybe we could try some tweaks on them too?