Author: Philipp Allgeuer
Version: 1.0
Date: 31/01/18
Minimum requirements: Matlab R2016b, Matlab/Octave Rotations Library v1.4.0
This Matlab software release implements the keypoint gait generator in a way ideal for visualisation, development and testing. Instead of being implemented in a real-time control loop fashion, instead the entire gait trajectory for both legs is calculated at once and presented. The release also incorporates functions for kinematic conversions between the joint, abstract and inverse pose spaces, and implements leg tip points (referred to internally as foot floor points, or FFP for short). Some required common utilities are also included.
The Matlab/Octave Rotations Library can be obtained
here. Ensure that the
RotationsLib directory is on the Matlab path, either manually from the Current
Folder view, or using LoadRotations.m, as described in the library help.
Open Matlab and set the current directory as the KeypointGait directory. For the code to run, Matlab must also be able to find the scripts/functions in the subdirectories. As such, either manually add these to the Matlab path, or run:
>> AddToPath
To then run the keypoint gait generator for the arms and legs, use:
>> CalcArmAngle
>> CalcKeypointTraj
Refer to the help of these two functions to see which arguments can be provided.
If a look into the source code does not resolve an issue you have with the software, then you can open a GitHub issue.
I welcome all feedback, suggestions and bug reports (by opening a GitHub issue). If you improve or fix anything about the library then I encourage you to let me know so that the library can be improved for everyone!