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View Code? Open in Web Editor NEWHumanoid Virtual Athletics Challenge
Humanoid Virtual Athletics Challenge
静歩行とは、ロボットの重心投影点が常に支持多角形の内側に来るような歩行モードです。
バランスをとりながら動き、モーション中いつでもその場で停止できるのが静歩行の特徴です。
階段の高さに応じてコントローラで足の高さを調整し、
かつ接地を検知したら支持足交換をするというプログラムを書けば、
非常にゆっくりではあるものの階段を上り下りできると思います。
vnoidは基本的に動歩行モードで歩きますが、
そこに静歩行モードを追加し、ボタン操作で切り替えれるようにするといいんじゃないでしょうか。
The following description causes a segmentation fault when AIST simulator calculates the first collision between the robot foot and the ground.
vnoid/project/vnoid_sample_project.cnoid
Line 15 in aaa6a0b
In my understanding, neither this repository nor the official Choreonoid repository have such a file. Thus, the line should be removed or commented out immediately.
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