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Thomas Moulard authoredThomas Moulard authored
PatternGeneratorMain.out 3.45 KiB
\BOOKMARK [0][-]{chapter.1}{User manual}{}
\BOOKMARK [1][-]{section.1.1}{Introduction}{chapter.1}
\BOOKMARK [1][-]{section.1.2}{Installation and quick start for the pattern generator}{chapter.1}
\BOOKMARK [2][-]{subsection.1.2.1}{Download}{section.1.2}
\BOOKMARK [2][-]{subsection.1.2.2}{Compiling and installation}{section.1.2}
\BOOKMARK [2][-]{subsection.1.2.3}{Example}{section.1.2}
\BOOKMARK [2][-]{subsection.1.2.4}{Needed libraries}{section.1.2}
\BOOKMARK [1][-]{section.1.3}{Plugin : WalkGenJRL}{chapter.1}
\BOOKMARK [2][-]{subsection.1.3.1}{Introduction}{section.1.3}
\BOOKMARK [2][-]{subsection.1.3.2}{Functionnalities}{section.1.3}
\BOOKMARK [3][-]{section*.2}{Foot positionning}{subsection.1.3.2}
\BOOKMARK [3][-]{section*.3}{Walking parameters}{subsection.1.3.2}
\BOOKMARK [0][-]{chapter.2}{The theory behind}{}
\BOOKMARK [1][-]{section.2.1}{Inverse Kinematics}{chapter.2}
\BOOKMARK [2][-]{subsection.2.1.1}{The legs}{section.2.1}
\BOOKMARK [1][-]{section.2.2}{Dynamic models of biped robot}{chapter.2}
\BOOKMARK [2][-]{subsection.2.2.1}{3D Linear Inverted Pendulum Mode and Zero-moment point}{section.2.2}
\BOOKMARK [2][-]{subsection.2.2.2}{ZMP equations and cart-table model}{section.2.2}
\BOOKMARK [1][-]{section.2.3}{Walking pattern generation for a given ZMP}{chapter.2}
\BOOKMARK [2][-]{subsection.2.3.1}{Pattern generation as an inverse problem}{section.2.3}
\BOOKMARK [2][-]{subsection.2.3.2}{ZMP control as a servo problem}{section.2.3}
\BOOKMARK [2][-]{subsection.2.3.3}{Pattern generation by preview control}{section.2.3}
\BOOKMARK [2][-]{subsection.2.3.4}{Pattern generation for multibody model}{section.2.3}
\BOOKMARK [2][-]{subsection.2.3.5}{References}{section.2.3}
\BOOKMARK [1][-]{section.2.4}{Finding the weights for the preview control }{chapter.2}
\BOOKMARK [2][-]{subsection.2.4.1}{The general scheme Katayama1985}{section.2.4}
\BOOKMARK [2][-]{subsection.2.4.2}{Removing the offset of the ZMP}{section.2.4}
\BOOKMARK [2][-]{subsection.2.4.3}{Implementation of the weights computation}{section.2.4}
\BOOKMARK [1][-]{section.2.5}{The angular momentum problem}{chapter.2}
\BOOKMARK [2][-]{subsection.2.5.1}{The problem}{section.2.5}
\BOOKMARK [2][-]{subsection.2.5.2}{Arm motion heuristic}{section.2.5}
\BOOKMARK [1][-]{section.2.6}{To change the library}{chapter.2}
\BOOKMARK [2][-]{subsection.2.6.1}{Introduction}{section.2.6}
\BOOKMARK [2][-]{subsection.2.6.2}{ZMPDiscretization}{section.2.6}
\BOOKMARK [2][-]{subsection.2.6.3}{Preview Control}{section.2.6}
\BOOKMARK [2][-]{subsection.2.6.4}{Dynamic Multi Body}{section.2.6}
\BOOKMARK [2][-]{subsection.2.6.5}{ZMPPreviewControlWithZMPMultiBody}{section.2.6}
\BOOKMARK [0][-]{chapter.3}{The Upper body Motion}{}
\BOOKMARK [1][-]{section.3.1}{Walking Mode inside the Pattern Generator V.2 }{chapter.3}
\BOOKMARK [1][-]{section.3.2}{Momentum Equation}{chapter.3}
\BOOKMARK [2][-]{subsection.3.2.1}{Momentum and joint velocities}{section.3.2}
\BOOKMARK [2][-]{subsection.3.2.2}{Constraints of foot contact}{section.3.2}
\BOOKMARK [1][-]{section.3.3}{Resolved Momentum Control}{chapter.3}
\BOOKMARK [2][-]{subsection.3.3.1}{Setting momentum reference}{section.3.3}
\BOOKMARK [2][-]{subsection.3.3.2}{Momentum selection and control by pseudo-inverse}{section.3.3}
\BOOKMARK [2][-]{subsection.3.3.3}{Calculation of the interia matrices}{section.3.3}
\BOOKMARK [2][-]{subsection.3.3.4}{Walking using the Resolved Momentum Control}{section.3.3}
\BOOKMARK [1][-]{section..1}{Introduction}{chapter.3}
\BOOKMARK [1][-]{section..2}{XML's fields}{chapter.3}