Commit 3b466f4b authored by Florent Lamiraux's avatar Florent Lamiraux Committed by Florent Lamiraux florent@laas.fr
Browse files

FInish exercise 3 and add a figure.

parent 1c572f8b
......@@ -16,4 +16,8 @@ such a way that
* when the robot is in double contact, the center of mass is above the line
segment linking the two foot centers.
We assume that the center of mass is at the origin of the trunc.
\ No newline at end of file
We assume that the center of mass is at the origin of the trunc.
Trajectories will be represented by polynomial splines. The coefficients of the splines are unknown. They are computed by solving a linear system of equations obtained by expressing the boundary constraints of the trajectories.
image::figures/walk-trajectory.svg[width="100%",alt="walk trajectories"]
\ No newline at end of file
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.1//EN"
"http://www.w3.org/TR/xhtml11/DTD/xhtml11.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" xml:lang="en">
<head>
<meta http-equiv="Content-Type" content="application/xhtml+xml; charset=UTF-8" />
<meta name="generator" content="AsciiDoc 8.6.9" />
<meta name="generator" content="AsciiDoc 8.6.10" />
<title>Walk motion</title>
<style type="text/css">
/* Shared CSS for AsciiDoc xhtml11 and html5 backends */
......@@ -771,6 +772,12 @@ when the robot is in double contact, the center of mass is above the line
</li>
</ul></div>
<div class="paragraph"><p>We assume that the center of mass is at the origin of the trunc.</p></div>
<div class="paragraph"><p>Trajectories will be represented by polynomial splines. The coefficients of the splines are unknown. They are computed by solving a linear system of equations obtained by expressing the boundary constraints of the trajectories.</p></div>
<div class="imageblock">
<div class="content">
<img src="figures/walk-trajectory.svg" alt="walk trajectories" width="100%" />
</div>
</div>
</div>
</div>
</div>
......@@ -778,7 +785,7 @@ when the robot is in double contact, the center of mass is above the line
<div id="footer">
<div id="footer-text">
Last updated
2019-11-29 14:49:08 CET
2020-01-07 14:10:52 CET
</div>
</div>
</body>
......
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