Bi-Ped gait simulations

The java applet below shows a simulation of a walking BiPed, utilizing the walking-function described in increment #2. It also shows how the phase controls the movements. A 3D simulation can be shown with the ThreeDimSim application. Look at the software pages or BiPed increment #7.

Use the vertical scrollbar to move the BiPed forward, and use the Phase input field to set a new phase-number, which will be applied after clicking on the <Set> button.

The function demonstrated below is slightly different. It generates a swinging movement of the legs with amplitude HipAmp degrees, and the inactive leg is pulled up during one half of a cycle. The amount of lift is defined by KneeAmp. The active leg is kept straight during the step, and thus consuming less energy. This function is described in increment #5.