Move leg Panel

  

This sub-panel allows us to move each leg individually in the different Cartesian dof. The components X, Y and Z can be incremented or decremented by pushing the corresponding button (+ to increment and - to decrement). The increment/decrement step is fixed and set to 1 unit. On the left of the panel there are two selectors to choose the leg to move and the frame of reference to which the X, Y and Z coordinates are referred. Two frame of references are available (see figure 2.5), the body frame of reference (attached to the robot's body and common to all legs) and the leg frame of reference (attached to the leg hip and particular for each leg). The leg frame of reference result from a rotation around the Z axis and a translation along axes X, Y, and Z of the body frame of reference so that the leg hip is reached. The button Hide hides the panel.

 

Figure 2.4: The move leg sub-panel. 

 

Figure 2.5: The body frame of reference (dashed lines) and a leg frame of reference (dotted lines).