karl3＠writeme.com wrote:
let's think about my old walking algorithm ^_^
the (emotional/executive) problem with the walking algorithm is a few fold
1 producing or facilitating a set of geometric (or physics or dynamics) primitives sufficient to enable step planning
2 writing and wiring a small-depth plan solver to resolve which foot to move first in edge situations
3 combining everything with a physical or simulated armature, and then debugging it
now part 2 has prerequisites that are also significant: 2a defining the state of a step of sufficient use to fully plan a good step 2b defining and sufficiently coding the uses of the various constraints of the system: joint extremes, center of mass positioning
2b also has subparts 2b-1: [i don't quite remember but one runs into it when trying to do the whole thing together] 2b-2: annotating an armature with sufficient structured information (limb graph in 3-space with mass) to derive the various constraints
something that's missing in here may be the utilization of paths of motion through areas where constraints are continuously satisfied in the same manner. doing this is kinda what makes the system analytically solvable on an arduino by a disabled guy -- the constraints only matter at the points in these paths where they change, i.e. when the structure would fall or reach a joint extreme
:D
_now_ a lot of this is already done for the specific thing i was doing it for, in the fuzzytew/toywalker github repo, but work towards the specific goal is roughly lost. {so ... ummmmmmmmmmmmmmmmmmmmmmmm <this algorithm is not in the repo. the big blocks for this algorithm involved combining the planner w--