This repository includes Arduino and MATLAB files for IROS 2022.
The gait library (an array of Gait() objects that details each gait's change in robot pose and other attributes) is generated by running demo_Gait.m. The structure of the dependencies, as well as the connections to classes in other demos are shown below:
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- ExperimentalData This superclass is used for generalized analysis of Arun's visual tracking data.
- PrimitivesTest This ExperimentalData subclass is used for processing motion primitive data resulting from having the robot execute Euler tours (exhaustive exploration). Demos can be found in demo_PrimitivesTest.m and demo2_PrimitivesTest.m.
- GaitTest This ExperimentalData subclass is used for processing sequentially repeated gaits, usually found via gait synthesis. The gaits are typically repeated for 30 cycles. A demo is shown in demo_PrimitivesTest.m.
- PathTest (future implementation) This ExperimentalData subclass is used for processing open-loop gait-switching sequences.
- GaitSynthesizer This handle class is used to syntehsize (generate) gaits by incorporating the motion primitive data. A demo is shown in demo_GaitSynthesizer.m.
- OldGaitTest (future implementation)
- GaitPredict (future implementation)
- Gait This handle class is used to instantiate gait objects to form a gait library /database using one of three inputs: (1) a GaitTest() object which analyzes the data from visual tracking, (2) an OldGaitTest() object which analyses the data from manual visual tracking , or (3) a GaitPredict() object which uses motion primitive data to predict the behavior of gaits before testing them.