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List of Figures
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The Legged Robot 3D
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The Legged Robot 3D
Contents
Contents
List of Figures
Introduction
Objective
General Structure
Installation Issues
User Interface
The On-Line Interface
The Main Panel
The Robot Menu
Move leg Panel
Set angles Panel
Set positions Panel
Balances Panel
Sensors Panel
Move Robot Panel
Load Robot Panel
Legend Panel
Change View Panel
Traces Panel
Camera Panel
The World Menu
Load Ground Panel
Load Landmarks Panel
Save Landmarks Panel
Manage Landmarks Panel
The Off-Line Interface
Ground Configuration
Landmark Configuration
Robot Configuration
The body description
The head description
The camera description
Legs description
The leg reference description
Examples of robot configuration files
Programming a Robot Controller
The User-Defined Controller Structure
The Robot
The Object
Setup Functions
Structure Functions
Positioning Functions
Motor Functions
Gesture Functions
Balance Functions
Camera Control Functions
Execution Control Functions
Sensor Functions
Landmarks Functions
Frame of Reference Conversion Functions
Trace Functions
Visualization Functions
Transform Functions
Landmark Functions
An Example: A simple controller
Future Extensions
Index
References
Josep M. Porta Pleite
8/2/2000