92 lines
1.7 KiB
TOML
92 lines
1.7 KiB
TOML
# Gait Def for Low Crawl
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# 低头匍匐前进步态定义
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# 保持低身位，头部下垂的四足步态
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# FR(前右)，FL(前左)，RR(后右)，RL(后左)
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# 每个section定义一个步态阶段，contact=[1,1,1,1]表示四足着地，[1,0,1,1]表示FL抬起
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# 第一阶段：四足着地稳定期
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[[section]]
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contact = [1, 1, 1, 1]
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duration = 8
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# 第二阶段：前左腿抬起
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[[section]]
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contact = [1, 0, 1, 1]
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duration = 6
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# 第三阶段：前左腿落下，四足着地
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[[section]]
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contact = [1, 1, 1, 1]
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duration = 8
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# 第四阶段：后右腿抬起
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[[section]]
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contact = [1, 1, 0, 1]
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duration = 6
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# 第五阶段：四足着地稳定期
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[[section]]
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contact = [1, 1, 1, 1]
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duration = 8
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# 第六阶段：前右腿抬起
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[[section]]
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contact = [0, 1, 1, 1]
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duration = 6
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# 第七阶段：前右腿落下，四足着地
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[[section]]
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contact = [1, 1, 1, 1]
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duration = 8
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# 第八阶段：后左腿抬起
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[[section]]
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contact = [1, 1, 1, 0]
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duration = 6
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# 循环开始 - 第九阶段：四足着地稳定期
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[[section]]
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contact = [1, 1, 1, 1]
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duration = 8
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# 第十阶段：前左腿抬起
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[[section]]
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contact = [1, 0, 1, 1]
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duration = 6
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# 第十一阶段：前左腿落下，四足着地
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[[section]]
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contact = [1, 1, 1, 1]
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duration = 8
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# 第十二阶段：后右腿抬起
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[[section]]
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contact = [1, 1, 0, 1]
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duration = 6
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# 第十三阶段：四足着地稳定期
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[[section]]
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contact = [1, 1, 1, 1]
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duration = 8
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# 第十四阶段：前右腿抬起
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[[section]]
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contact = [0, 1, 1, 1]
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duration = 6
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# 第十五阶段：前右腿落下，四足着地
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[[section]]
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contact = [1, 1, 1, 1]
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duration = 8
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# 第十六阶段：后左腿抬起
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[[section]]
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contact = [1, 1, 1, 0]
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duration = 6
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# 最终稳定期
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[[section]]
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contact = [1, 1, 1, 1]
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duration = 10
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