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tutorials:gait [2019/06/04 12:14]
tgeijten
tutorials:gait [2019/12/04 12:07] (current)
tgeijten [Controller [Geyer & Herr 2010]]
Line 22: Line 22:
  
 <code python> <code python>
 +# Gait controller adapted from [Geyer & Herr 2010] by Thomas Geijtenbeek ​
 GaitStateController { GaitStateController {
- signature_postfix = "GH2010v7"+ signature_postfix = "GH2010v8"
  stance_load_threshold = ~0.1<​0.001,​1>​  stance_load_threshold = ~0.1<​0.001,​1>​
  leg_load_sensor_delay = 0  leg_load_sensor_delay = 0
 + symmetric = 1
  ConditionalControllers {  ConditionalControllers {
- 
  # TA stretch reflexes [Geyer & Herr 2010]  # TA stretch reflexes [Geyer & Herr 2010]
  ConditionalController {  ConditionalController {
  states = "​EarlyStance LateStance Liftoff Swing Landing"​  states = "​EarlyStance LateStance Liftoff Swing Landing"​
  ReflexController {  ReflexController {
- symmetric = 1 
  MuscleReflex {  MuscleReflex {
  target = tib_ant  target = tib_ant
Line 51: Line 51:
  ConditionalController {  ConditionalController {
  states = "​EarlyStance LateStance Liftoff"​  states = "​EarlyStance LateStance Liftoff"​
- Controller { + ReflexController ​{
- type = ReflexController +
- symmetric = 1+
  MuscleReflex {  MuscleReflex {
  target = soleus  target = soleus
Line 70: Line 68:
  ConditionalController {  ConditionalController {
  states = "​EarlyStance LateStance"​  states = "​EarlyStance LateStance"​
- Controller { + ReflexController ​{
- type = ReflexController +
- symmetric = 1+
  Reflexes {  Reflexes {
  # F+ VAS  # F+ VAS
Line 118: Line 114:
  ConditionalController {  ConditionalController {
  states = "​Liftoff"​  states = "​Liftoff"​
- Controller { + ReflexController ​{
- type = ReflexController +
- symmetric = 1+
  MuscleReflex {  MuscleReflex {
  target = iliopsoas  target = iliopsoas
Line 137: Line 131:
  ConditionalController {  ConditionalController {
  states = "Swing Landing"​  states = "Swing Landing"​
- Controller { + ReflexController ​{
- type = ReflexController +
- symmetric = 1+
  # HFL excitation [Geyer & Herr 2010]  # HFL excitation [Geyer & Herr 2010]
  MuscleReflex {  MuscleReflex {
  • by tgeijten