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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]]. |