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ref:gait_state_controller [2020/06/19 15:47]
127.0.0.1 external edit
ref:gait_state_controller [2020/11/30 13:14] (current)
tgeijten [GaitStateController]
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 Finite State Machine controller that detects different phases of gait.  Finite State Machine controller that detects different phases of gait. 
  
-Supported states are: ''​EarlyStance'',​ ''​LateStance'',​ ''​LiftOff'',​ ''​Swing'',​ ''​Landing''​. See the gait tutorial ​ for an example. ​+Supported states are: ''​EarlyStance'',​ ''​LateStance'',​ ''​LiftOff'',​ ''​Swing'',​ ''​Landing''​. 
 + 
 +The current state of a leg is defined through its current relative sagittal foot position (''​sagittal_pos''​) and the normalized load (''​leg_load''​). Transitions between states are defined as follows (see also public attributes below): 
 +  * ''​Landing''​ -> ''​EarlyStance''​ occurs if ''​leg_load''​ is above **stance_load_threshold**. 
 +  * ''​EarlyStance''​ -> ''​LateStance''​ occurs if ''​sagittal_pos''​ is below **late_stance_threshold**. 
 +  * ''​LateStance''​ -> ''​LiftOff''​ occurs if contralateral ''​leg_load''​ is above **stance_load_threshold** or ''​sagittal_pos''​ is below **liftoff_threshold**. 
 +  * ''​LiftOff''​ -> ''​Swing''​ occurs if ''​leg_load''​ is below **swing_load_threshold**. 
 +  * ''​Swing''​ -> ''​Landing''​ occurs if ''​sagittal_pos''​ is above **landing_threshold**. 
 + 
 +See the [[https://​scone.software/​doku.php?​id=tutorials:​gait|gait tutorial]] for an example.
  
 **Inherits from** [[controller|Controller]]. **Inherits from** [[controller|Controller]].
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