All legs

Centerpoint for Pitch & Roll:

TIME value:
PEP
X >--<,<-->
Step value:
X = 0.0 cm
Y = 0.0 cm
200 ver 2.02LMbeta
1.0 cm
Direction:
Inc. value:
Lock to Rotate
Z = 0.0 cm
45.0 deg
5.0 deg
Lock to CPR

Status:

Increment value: -2.0 deg

Set angle:
X rot: 0.0 deg
Reset total
Z rot: 0.0 deg
Z = 9.1 cm
X = 5.2 cm

Pitch: 0.0
Roll: 0.0
RightRear
Rotation

Total 0.0 deg

Lock

RightMiddle
Rotation

Total 0.0 deg

Lock

RightFront
Rotation

Total 0.0 deg

Lock

Move actions

X = 5.3 cm

Y = 10.6 cm

Coxa 0.0 deg

Femur 0.0 deg

Tibia 0.0 deg

Tibia 0.0 deg

Z = 0.0 cm

Z = 0.0 cm

X = 10.5 cm

X = 10.5 cm

C-T = 10.5 cm

C-T = 10.5 cm
Y = 10.6 cm

Y = 10.6 cm

Coxa 0.0 deg

Femur 0.0 deg

Tibia 0.0 deg

Tibia 0.0 deg

Z = -9.1 cm

Z = -9.1 cm
X = 5.3 cm

C-T = 10.5 cm

C-T = 10.5 cm
Y = 10.6 cm

Y = 10.6 cm

Coxa 0.0 deg

Femur 0.0 deg

Tibia 0.0 deg

Tibia 0.0 deg

Y Rotation:

Z Rotation:

UP:
Down:

X verdier
Senter
VeFremCoxa
VeFremTars
VeSenterCoxa
VeSenterTars
VeBakCoxa
VeBakTars
HFremCoxa
HFremTars

Z verdier
0
4.3
9.6
6.3
16.8
4.3
9.6
-4.3
-9.6

IK

Lock

LeftMiddle
Rotation

IK

Lock

LeftFront
Rotation

IK

Lock

C-T >--<,<-->

Pitch:

Roll:

Total 0.0 deg

Femur 0.0 deg

X Rotation:

Total 0.0 deg

Femur 0.0 deg

Active IK !
X = 5.3 cm

CCW - CW
LeftRear
Rotation

Total 0.0 deg

Femur 0.0 deg

Coxa 0.0 deg

IK

Z = 9.1 cm

C-T = 10.5 cm
Y = 10.6 cm

Coxa 0.0 deg

IK

Center

C-T = 10.5 cm
Coxa 0.0 deg

IK

CenterPoint for Rotation (CPR): Rotation

X = 0.0 cm Z = 0.0 cm

0 C-T
-8.2
-17.3
0.0
0.0
8.2
17.3
-8.2
-17.3

CCW - CW
BALANCE !

Dir:

Right: Left:

Bwrd:
Frwd:

Inverse kinematic
Coxa angle
Rot.Centr-Tars
0.000
10.50
19.8
0.000
10.50
16.8
0.000
10.50
19.8
0.000
10.50
19.8

Y Rotation (rotate bo

HSenterCoxa
-6.3
0.0
0.000
HSenterTars
-16.8
0.0
10.50
16.8
HBakCoxa
-4.3
8.2
0.000
HBakTars
-9.6
17.3
10.50
19.8
Vektor XZ verdier for hver enkelt fot:
Plan Vektor Y Femur vinkel
Tibia vinkel
VektorVFT
5.3
-9.1
10.6
0.0 deg
0.0 deg
VektorVST
10.5
0.0
10.6
0.0 deg
0.0 deg
VektorVBT
5.3
9.1
10.6
0.0 deg
0.0 deg
VektorHFT
5.3
-9.1
10.6
0.0 deg
0.0 deg
VektorHST
10.5
0.0
10.6
0.0 deg
0.0 deg
VektorHBT
5.2
9.1
10.6
0.0 deg
0.0 deg
Vektor vedier for mellomlagring :
Final Vektor Y Roll delta Y
Pitch delta Y
TempVFT
6.8
-12.0
10.6
0
0
TempVST
10.8
-0.6
10.6
0
0
TempVBT
6.3
8.7
10.6
0
0
TempHFT
6.8
-12.0
10.6
0
0
TempHST
10.1
0.8
10.6
0
0
TempHBT
4.2
9.5
10.6
0
0
X values
Z values
Y values
Total Roll
Total Pitch
Rot. Senter
0
0
0.0 deg
0.0 deg
Retning linje:
25
25
-25
-25
Roll/Pitch S.
0
0
0

X Rotation, Pitch
Total X rot. :
0.0 deg
Old Y vector
Old Z vector
Rot.Centr-Tars Angle ZRCT
New Y vector
VFT
10.60
-17.29
20.28
148.49
9.99
VST
10.60
0.00
10.60
90.00
10.59
VBT
10.60
17.29
20.28
31.51
11.20
HFT
HST
HBT
Z Rotation, Roll

10.60
10.60
10.60

-17.29
0.00
17.29
Total Z rot. :

20.28
10.60
20.28
0.0 deg

148.49
90.00
31.51

9.99
10.59
11.20

VFT
VST
VBT
HFT
HST
HBT

Debug cnt:

Old Y vector
Old X vector
Rot.Centr-Tars Angle XRCT
New Y vector
10.60
9.55
14.27
47.98
10.93
10.60
16.80
19.86
32.25
11.18
10.60
9.55
14.27
47.98
10.93
10.60
10.60
10.60

-9.55
-16.80
-9.55

14.27
19.86
14.27

132.02
147.75
132.02

10.26
10.01
10.26

-20.0000

25.0

-18.0000

20.0

-16.0000

C-T

-14.0000

15.0

-12.0000
-10.0000

10.0

-8.0000
-6.0000

5.0

-4.0000
-2.0000

0.0
-25.0

-20.0

-15.0

-10.0

-5.0

0.0000

0.0

5.0

10.0

15.0

20.0

25.0 2.0000

-5.0

4.0000
6.0000

-10.0

8.0000
10.0000

-15.0

12.0000
14.0000

-20.0

Body 1

16.0000

-25.0

-5
12.6
Write sequences
Sequence nr:
1
Step nr:
1
Comment:

20.0000

Read Sequences
Sequence nr:
1
Step nr:
1
Comment:

SSC-32 connection
Connect

Flip box

Vacant sequence/step !!
Write +

18.0000

Body 2

Swap RF<->LF

Lock to Read

New comment

PEP -> SSC

Read step !

Generate walking gait sequences

Project name:

Select gait:

Lock PEP -> SSC

PhoenixLM01

Play sequence

Ripple 12s # 1 start position

Stop !

Write step

Read step

Y Rotation (rotate body)

Angle XRCT Ny X
-61.1

8.9

NyZ

Generate gait!

Generate letter

Forward kinematic
FK vektor X FK vektor Z

Coxa angle
C-T
-60
-17.6

10.5

5.25

-9.09

10.5

10.50

0.00

10.5

5.25

9.09

10.5

5.25

-9.09

1.8E-013
0.0

16.8

-0.6

61.1

10.1

16.9

60
-60
-118.9

-10.1

-16.9

1.8E-013
180.0

-16.8

0.6

10.5

10.50

0.00

10.5

5.25

9.09

60
118.9
Total rotasjon
0
0
0
0
0
0
Locked leg
0
0
0
0
0
0

-8.9
17.6
Ny vektorX Ny vektorZ
4.6
-9.4
10.5
-0.6
5.8
8.7
5.8
-8.7
10.5
0.6
4.6
9.4
Balance
Sum
Total X:
0.0
Total Z:
0.0
Total XBC-T:
Total ZRC-T:
Total XRC-T:

180.0 deg
0.0 deg
0.0 deg

div/6

Angle XBC-T Angle ZRC-T

-61.1 deg
58.5 deg
0.0 deg
0.0 deg
61.1 deg
-58.5 deg
-118.9 deg
58.5 deg
180.0 deg
0.0 deg
118.9 deg
-58.5 deg

0.0
0.0
0.0
0.0
0.0

New Z vector Yleg vector Zleg vector

Temp Y
Temp Z
-17.65
9.99
-9.45
10.01
-11.19
-0.37
10.59
-0.37
12.70
-6.13
16.91
11.20
8.71
12.70
9.71
-17.65
-0.37
16.91

9.99
10.59
11.20

-9.45
-0.37
8.71

12.19
12.70
12.70

-5.47
-6.13
9.71

New X vector Yleg vector Xleg vector

Temp Y
Temp X
9.17
10.93
4.87
10.42
-0.03
16.42
11.18
10.12
10.07
10.06
9.17
10.93
4.87
10.17
10.32
-9.91
-17.16
-9.91

10.26
10.01
10.26

5.61
10.86
5.61

11.02
11.12
10.77

9.64
9.38
-0.71

SSC-32 connection
Connect

PEP -> SSC

Lock PEP -> SSC

Play sequence

Stop !

ematic
Femur angle Tibia angle
0.0 deg

0.0 deg

0.0 deg

0.0 deg

0.0 deg

0.0 deg

0.0 deg

0.0 deg

Update IK
Update FK

0.0 deg

0.0 deg

0.0 deg

0.0 deg

Angle XRC-T
-42.0 deg
-57.8 deg
-42.0 deg
42.0 deg
57.8 deg
42.0 deg

Seq.pointer

Update Seq.pointer
140
6
Clear sheet
53
97 Comment
140 Flip box
Transition 12s to next pose

Export ->
Import <-

0
0
0
0
0
0
0
0
0
0
0
Spesial pose 1 ready
Flipp box Pose 1
0
0
0
0
0
0
0
flip front legs
0
0
0
0
0
0
Touch box
0
Box flipped
front leg little forward
All legs down
Transition from Pose 1 to stnd
0
0
0
0
0
0
0
0
0
0

SEQUENCE STEP
1
1
1
2
1
3
1
4
1
5
1
6
1
7
1
8
1
9
1
10
1
11
1
12
1
13
1
14
1
15
1
16
1
17
1
18
1
19
1
20
1
21
1
22
1
23
1
24
1
25
1
26
1
27
1
28
1
29
1
30
1
31
1
32
1
33
1
34
1
35
1
36
1
37
1
38
1
39
1
40
1
41
1
42
1
43
1
44
1
45

Right rear leg

Coxa Femur
PIN0 PIN1
###
0
###
0
###
0
###
0
###
0
### -31.25
### -31.25
###
0
###
0
###
0
###
0
###
0
###
0
###
0
3.445 -6.004
6.077
-11.7
8.12 -16.98
9.723 -21.79
10.989 -26.07
11.99 -29.8
12.775 -32.93
13.381 -35.45
13.381 -35.45
13.381 -35.45
12.775 -32.93
11.99 -29.8
10.989 -26.07
9.723 -21.79
8.12 -16.98
6.077
-11.7
3.445 -6.004
0
0
0
0
###
0
###
0
###
0
###
0
###
0
### -39.7
### -39.7
###
0
###
0
###
0
###
0
###
0

Tibia
PIN2
0
0
0
0
0
-25.28
-25.28
0
0
0
0
0
0
0
0.96
2.527
4.717
7.54
11.005
15.125
19.931
25.484
25.484
25.484
19.931
15.125
11.005
7.54
4.717
2.527
0.96
0
0
0
0
0
0
0
-30.18
-30.18
0
0
0
0
0

Right middle leg

Coxa Femur
PIN4 PIN5
###
0
###
0
###
0
###
0
###
0
###
0
###
0
###
0
###
0
### -31.25
-40 -31.25
-40
###
-40
###
-40
###
-33.12 9.482
-24.37 18.307
-13.63 26.16
-1.298 32.797
11.579 38.189
23.676 42.709
34.069 47.335
42.505 55.573
42.505 55.573
42.505 55.573
34.069 47.335
23.676 42.709
11.579 38.189
-1.298 32.797
-13.63 26.16
-24.37 18.307
-33.12 9.482
-40
###
-40
###
-40
###
-40
###
-40
###
-40
###
-40
###
-40
###
-40
###
-40
###
-40
###
-40 -39.7
### -39.7
###
0

0
0
Rotate demo
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0

1
1
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
3
3
3
3
3

46
47
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
1
2
3
4
5

###
###
2.185
3.804
4.978
5.789
6.288
6.504
6.288
5.789
4.978
3.804
2.185
###
-2.938
-6.91
-12.35
-19.87
-30.31
-44.29
-30.31
-19.87
-12.35
-4.311
10.284
21.686
30.091
35.469
30.802
27.637
25.636
24.585
24.367
23.508
22.059
19.98
17.221
13.722
16.547
20.7
25.948
34.992
44.593
49.775
39.337
###
###
###
###
###
###

0
0
-11.45
-23.04
-34.67
-46.19
-57.37
-67.94
-57.37
-46.19
-34.67
-23.04
-11.45
0
11.305
22.495
33.655
44.956
56.859
72.012
56.859
44.956
33.655
41.317
35.239
27.273
18.076
8.159
-6.603
-21.7
-36.92
-51.81
-65.68
-57.91
-49.94
-41.95
-34.13
-26.65
-9.974
6.39
22.503
38.641
40.849
28.669
15.927
0
0
0
0
0
0

0
0
-6.568
-12.17
-16.75
-20.23
-22.52
-23.56
-22.52
-20.23
-16.75
-12.17
-6.568
0
7.535
16.104
25.89
37.3
51.383
73.129
51.383
37.3
25.89
32.449
26.834
20.957
15.215
9.684
-0.355
-8.517
-14.71
-18.75
-20.42
-20
-19
-17.46
-15.47
-13.1
-4.897
5.396
17.776
33.113
37.583
29.106
16.051
0
0
0
0
0
0

###
###
5.028
9.943
14.643
19.049
23.105
26.783
23.105
19.049
14.643
9.943
5.028
###
-5.028
-9.943
-14.64
-19.05
-23.11
-26.78
-23.11
-19.05
-14.64
-16.04
-10.7
-2.653
9.809
27.651
32.762
35.55
37.293
38.481
39.336
34.91
31.014
27.7
24.991
22.889
22.37
21.347
19.01
16.413
18.128
26.811
25.015
###
###
###
###
###
###

0
0
-0.304
-1.205
-2.678
-4.682
-7.167
-10.08
-7.167
-4.682
-2.678
-1.205
-0.304
0
-0.304
-1.205
-2.678
-4.682
-7.167
-10.08
-7.167
-4.682
-2.678
8.136
20.667
32.71
43.904
53.568
38.616
24.301
10.281
-3.578
-17.29
-22.64
-28.66
-35.21
-42.14
-49.29
-36.68
-23.77
-10.83
1.985
12.749
20.749
17.43
0
0
0
0
0
0

Spesial pose1 lift box

Lift front leg
0
Grab box
LIft box
0
0
0
Slip box
Wave front legs
0
0
0
0
Move body down
0
Done
Transition from Pose 1 to stnd
0
0
0
0
0
0
0
0
0
0
0
0
Vacant sequence/step !!
0
0
0
0
0
0
0
0
0
0
0
0

3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3

6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43

###
###
###
###
###
###
###
###
###
###
###
###
###
###
5.926
7.633
7.633
7.633
7.633
7.633
7.633
7.633
7.633
1.604
###
###
###
###
###
###
###
###
###
###
###
###
###
###

-31.25
-31.25
0
0
0
0
0
0
0
0
0
0
0
0
2.683
-3.975
-3.975
-3.975
-3.975
-3.975
-3.975
-3.975
-25.42
16.288
0
0
0
0
0
-39.7
-39.7
0
0
0
0
0
0
0

-25.28
-25.28
0
0
0
0
0
0
0
0
0
0
0
0
15.651
14.247
14.247
14.247
14.247
14.247
14.247
14.247
-3.058
20.859
0
0
0
0
0
-30.18
-30.18
0
0
0
0
0
0
0

###
###
###
###
###
-40
-40
-40
-40
-40
-40
-40
-40
-40
-23.91
-13.34
-13.34
-13.34
-13.34
-13.34
-13.34
-13.34
-13.34
-37.32
-40
-40
-40
-40
-40
-40
-40
-40
-40
-40
###
###
###
###

0
0
0
0
-31.25
-31.25
###
###
###
###
###
###
###
###
42.019
58.195
58.195
58.195
58.195
58.195
58.195
58.195
27.113
16.027
###
###
###
###
###
###
###
###
###
-39.7
-39.7
0
0
0

0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0

0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0

0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0

0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0

0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0

10

11

12

13

14

15

16

Left rear leg

Coxa Femur
PIN16 PIN17
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0 -31.25
0 -31.25
0
0
3.445 -6.004
6.077
-11.7
8.12 -16.98
9.723 -21.79
10.989 -26.07
11.99 -29.8
12.775 -32.93
13.381 -35.45
13.381 -35.45
13.381 -35.45
12.775 -32.93
11.99 -29.8
10.989 -26.07
9.723 -21.79
8.12 -16.98
6.077
-11.7
3.445 -6.004
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0 -39.7

Tibia
PIN18
0
0
0
0
0
0
0
0
0
0
0
-25.28
-25.28
0
0.96
2.527
4.717
7.54
11.005
15.125
19.931
25.484
25.484
25.484
19.931
15.125
11.005
7.54
4.717
2.527
0.96
0
0
0
0
0
0
0
0
0
0
0
0
0
-30.18

17

18

19

20

21

22

Individual sequences

ht middle leg
Tibia
PIN6
0
0
0
0
0
0
0
0
0
-25.28
-25.28
0
0
0
5.192
11.341
18.325
26.062
34.604
44.32
56.341
76.082
76.082
76.082
56.341
44.32
34.604
26.062
18.325
11.341
5.192
0
0
0
0
0
0
0
0
0
0
0
-30.18
-30.18
0

Right front leg

Coxa Femur
PIN8 PIN9
0
0
0 -31.25
-20 -31.25
-20
###
-20
###
-20
###
-20
###
-20
###
-20
###
-20
###
-20
###
-20
###
-20
###
-20
###
-20
###
30
0
30
0
30 -48.44
30 -83.75
-10 -83.75
-30 -83.75
-30 -43.96
-30 -43.96
-30 -43.96
-30 -43.96
-30 -43.96
-30 -43.96
-30 -43.96
-30 -43.96
-30 -25.92
-30 -45.81
-30 -53.35
-30 -48.51
-20
###
-20 -39.7
0 -39.7
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0

Tibia
PIN10
0
-25.28
-25.28
0.0001
0.0001
0.0001
0.0001
0.0001
0.0001
0.0001
0.0001
0.0001
0.0001
0.0001
0.0001
###
###
-34.47
0.962
55.962
55.962
23.19
83.19
23.19
83.19
23.19
83.19
28.19
58.19
6.922
-25.46
-56.34
-32.35
0.0001
-30.18
-30.18
0
0
0
0
0
0
0
0
0

Left middle leg

Coxa Femur
PIN20 PIN21
###
0
###
0
###
0
### -31.25
-40 -31.25
-40
###
-40
###
-40
###
-40
###
-40
###
-40
###
-40
###
-40
###
-40
###
-33.11 9.482
-24.36 18.307
-13.63 26.16
-1.297 32.796
11.58 38.189
23.676 42.708
34.069 47.334
42.505 55.572
42.505 55.572
42.505 55.572
34.069 47.334
23.676 42.708
11.58 38.189
-1.297 32.796
-13.63 26.16
-24.36 18.307
-33.11 9.482
-40
###
-40
###
-40
###
-40
###
-40
###
-40 -39.7
### -39.7
###
0
###
0
###
0
###
0
###
0
###
0
###
0

Left front leg

Tibia
Coxa Femur Tibia
PIN22 PIN24 PIN25 PIN26
0
0
0
0
0
0
0
0
0
0
0
0
-25.28
0
0
0
-25.28
0
0
0
0
0
0
0
0
0
0
0
0
0 -31.25 -25.28
0
-20 -31.25 -25.28
0
-20
###
0
0
-20
###
0
0
-20
###
0
0
-20
###
0
0
-20
###
0
5.191
-20
###
0
11.341
30
### 0.0004
18.325
30
### 0.0004
26.061
30 -48.44 -34.47
34.603
30 -83.75 0.963
44.319
-10 -83.75 55.962
56.34
-30 -83.75 55.961
76.081
-30 -43.96 83.188
76.081
-30 -43.96 23.188
76.081
-30 -43.96 83.188
56.34
-30 -43.96 23.188
44.319
-30 -43.96 83.188
34.603
-30 -43.96 23.188
26.061
-30 -43.96 83.188
18.325
-30 -43.96 43.188
11.341
-30 -25.92 6.919
5.191
-30 -45.82 -25.46
0
-30 -53.35 -56.34
0
-30 -48.51 -32.36
0
-20
###
0
0
-20
###
0
0
-20
###
0
-30.18
-20
###
0
-30.18
-20
###
0
0
-20
###
0
0
-20
###
0
0
-20 -39.7 -30.18
0
0 -39.7 -30.18
0
0
0
0
0
0
0
0
0
0
0
0

0
0
-0.084
-0.33
-0.727
-1.255
-1.889
-2.603
-1.889
-1.255
-0.727
-0.33
-0.084
0
-0.084
-0.33
-0.727
-1.255
-1.889
-2.603
-1.889
-1.255
-0.727
5.468
13.109
21.692
31.134
41.17
28.855
18.774
10.32
3.266
-2.449
-5.802
-8.934
-11.75
-14.16
-16.08
-13.32
-9.303
-4.246
1.967
8.507
14.833
12.37
0
0
0
0
0
0

0
0
2.938
6.91
12.345
19.874
30.311
44.293
30.311
19.874
12.345
6.91
2.938
###
-2.185
-3.804
-4.978
-5.789
-6.288
-6.504
-6.288
-5.789
-4.978
-7.272
-8.714
-11.13
-15.04
-22.51
-7.913
11.157
31.434
48.412
60.65
52.254
46.72
42.988
40.447
38.75
36.639
34.317
31.125
28.473
27.129
27.83
23.091
0
0
0
-20
-20
-20

0
0
11.305
22.495
33.655
44.956
56.859
72.012
56.859
44.956
33.655
22.495
11.305
0
-11.45
-23.04
-34.67
-46.19
-57.37
-67.94
-57.37
-46.19
-34.67
-29.05
-11.81
5.279
22.272
39.541
47.917
53.854
56.437
55.761
52.758
32.553
14.927
-2.034
-18.74
-35.13
-33.7
-32.65
-32.18
-32.1
-23.59
-6.022
2.701
0
0
-31.25
-31.25
###
###

0
0
7.535
16.104
25.89
37.3
51.383
73.129
51.383
37.3
25.89
16.104
7.535
0
-6.568
-12.17
-16.75
-20.23
-22.52
-23.56
-22.52
-20.23
-16.75
-14.57
-6.576
3.638
16.192
31.843
38.986
45.683
51.129
54.989
57.559
35.268
19.919
8.073
-1.073
-7.672
-8.248
-8.929
-10.03
-10.94
-8.168
0.413
4.316
0
0
-25.28
-25.28
0.0001
0.0001

0
0
2.185
3.804
4.978
5.789
6.288
6.504
6.288
5.789
4.978
3.804
2.185
0
-2.938
-6.91
-12.35
-19.87
-30.31
-44.29
-30.31
-19.87
-12.35
-18.44
-18.3
-18.3
-18.41
-17.88
-16.24
-14.76
-13.46
-12.38
-11.52
-11.03
-10.39
-9.532
-8.314
-6.442
-19.95
-33.13
-43.91
-53.35
-54.07
-49.42
-37.62
0
0
0
0
0
0

-39.7
0
-11.45
-23.04
-34.67
-46.19
-57.37
-67.94
-57.37
-46.19
-34.67
-23.04
-11.45
0
11.305
22.495
33.655
44.956
56.859
72.012
56.859
44.956
33.655
25.574
7.323
-10.64
-28.5
-46.07
-48.06
-50.29
-52.72
-55.32
-58.03
-40.94
-23.14
-5.201
12.752
31.045
34.166
35.026
33.944
31.303
20.83
4.107
-3.561
0
0
0
0
0
0

-30.18
0
-6.568
-12.17
-16.75
-20.23
-22.52
-23.56
-22.52
-20.23
-16.75
-12.17
-6.568
0
7.535
16.104
25.89
37.3
51.383
73.129
51.383
37.3
25.89
19.764
6.361
-4.251
-12.35
-18.01
-18.84
-19.63
-20.36
-21.02
-21.58
-17.89
-11.46
-2.525
8.879
23.164
27.242
30.555
32.896
34.832
27.588
14.651
4.988
0
0
0
0
0
0

###
###
5.028
9.943
14.643
19.049
23.105
26.783
23.105
19.049
14.643
9.943
5.028
###
-5.028
-9.943
-14.64
-19.05
-23.11
-26.78
-23.11
-19.05
-14.64
-13.61
-9.947
-7.235
-5.358
-3.589
-2.61
-0.903
1.655
5.238
10.08
5.494
-1.205
-11.01
-25
-43.09
-43.88
-44.39
-44.18
-44.55
-42.16
-37.61
-28.01
###
###
###
###
###
-40

0
0
-0.304
-1.205
-2.678
-4.682
-7.167
-10.08
-7.167
-4.682
-2.678
-1.205
-0.304
0
-0.304
-1.205
-2.678
-4.682
-7.167
-10.08
-7.167
-4.682
-2.678
-13.51
-22.98
-32.84
-42.86
-52.84
-41.94
-30.88
-19.92
-9.297
0.78
12.72
24.117
34.682
43.9
50.998
35.672
21.149
7.017
-6.873
-15.91
-20.8
-17.21
0
0
0
0
-31.25
-31.25

0
0
-0.084
-0.33
-0.727
-1.255
-1.889
-2.603
-1.889
-1.255
-0.727
-0.33
-0.084
0
-0.084
-0.33
-0.727
-1.255
-1.889
-2.603
-1.889
-1.255
-0.727
-6.108
-10.4
-14.06
-16.98
-19.08
-16.85
-13.63
-9.542
-4.7
0.758
7.612
15.236
23.512
32.222
40.968
28.688
18.771
10.382
3.643
-0.973
-4.321
-5.451
0
0
0
0
-25.28
-25.28

0
0
2.938
6.91
12.345
19.874
30.311
44.293
30.311
19.874
12.345
6.91
2.938
###
-2.185
-3.804
-4.978
-5.789
-6.288
-6.504
-6.288
-5.789
-4.978
-3.06
-0.572
2.414
5.87
10.512
9.654
8.433
6.55
3.255
-3.962
-27.74
-40.78
-48.1
-52.52
-55.36
-49.17
-44.46
-40.38
-38.1
-36.29
-34.02
-25.87
0
0
0
0
0
0

0
0
11.305
22.495
33.655
44.956
56.859
72.012
56.859
44.956
33.655
22.495
11.305
0
-11.45
-23.04
-34.67
-46.19
-57.37
-67.94
-57.37
-46.19
-34.67
-40.48
-35.13
-30.2
-25.79
-22.05
-4.11
13.853
32.197
52.129
83.997
66.411
53.003
40.207
27.741
15.494
3.165
-9.575
-22.78
-36.04
-37.79
-28.06
-16.53
0
0
0
0
0
0

0
0
7.535
16.104
25.89
37.3
51.383
73.129
51.383
37.3
25.89
16.104
7.535
0
-6.568
-12.17
-16.75
-20.23
-22.52
-23.56
-22.52
-20.23
-16.75
-18.68
-16.93
-15.03
-13.04
-10.97
-1.885
9.677
24.174
43.421
85.071
61.535
48.441
38.124
29.525
22.23
11.663
2.786
-4.795
-10.34
-11.58
-9.204
-6.591
0
0
0
0
0
0

0
0
0
0
-25.28
-25.28
0
0
0
0
0
0
0
0
43.382
65.571
65.571
65.571
65.571
65.571
65.571
65.571
19.533
15.536
0
0
0
0
0
0
0
0
0
-30.18
-30.18
0
0
0

-20
-20
-20
-20
-20
-20
-20
-20
-20
-10
-20
-26.9
-26.9
-26.24
-26.24
-26.24
-16.24
-16.52
-16.38
-16.52
-16.38
-16.52
-16.38
-0.522
-20
-20
0
0
0
0
0
0
0
0
0
0
0
0

###
###
###
###
###
###
###
###
###
-15.23
5.027
2.984
-34.53
-84.18
-84.18
-84.18
-84.18
-82
-81.95
-82
-81.95
-82
-81.95
-82
###
-39.7
-39.7
0
0
0
0
0
0
0
0
0
0
0

0.0001
0.0001
0.0001
0.0001
0.0001
0.0001
0.0001
0.0001
0.0001
-13.79
46.566
42.27
14.806
-0.468
-0.468
-0.468
-0.468
-14.09
29.961
-14.09
29.961
-14.09
29.961
-14.09
0.0001
-30.18
-30.18
0
0
0
0
0
0
0
0
0
0
0

0
0
0
0
0
0
0
0
0
0
0
0
0
0
5.926
7.633
7.633
7.633
7.633
7.633
7.633
7.633
7.633
1.604
0
0
0
0
0
0
0
0
0
0
0
0
0
0

0
0
0
0
0
0
-31.25
-31.25
0
0
0
0
0
0
2.683
-3.975
-3.975
-3.975
-3.975
-3.975
-3.975
-3.975
-25.42
16.288
0
0
0
0
0
0
0
0
0
0
0
-39.7
-39.7
0

0
0
0
0
0
0
-25.28
-25.28
0
0
0
0
0
0
15.651
14.247
14.247
14.247
14.247
14.247
14.247
14.247
-3.058
20.859
0
0
0
0
0
0
0
0
0
0
0
-30.18
-30.18
0

-40
-40
-40
-40
-40
-40
-40
-40
-40
-40
-40
-40
-40
-40
-23.91
-13.34
-13.34
-13.34
-13.34
-13.34
-13.34
-13.34
-13.34
-37.32
-40
-40
-40
-40
###
###
###
###
###
###
###
###
###
###

###
###
###
###
###
###
###
###
###
###
###
###
###
###
42.018
58.194
58.194
58.194
58.194
58.194
58.194
58.194
27.113
16.027
###
###
###
-39.7
-39.7
0
0
0
0
0
0
0
0
0

0
0
0
0
0
0
0
0
0
0
0
0
0
0
43.382
65.57
65.57
65.57
65.57
65.57
65.57
65.57
19.532
15.536
0
0
0
-30.18
-30.18
0
0
0
0
0
0
0
0
0

0
0
0
-20
-20
-20
-20
-20
-20
-10
-20
-27
-27
-26.38
-26.38
-26.38
-16.38
-16.38
-16.52
-16.38
-16.52
-16.38
-16.52
-0.38
-20
-20
-20
-20
-20
-20
-20
-20
0
0
0
0
0
0

0
0
-31.25
-31.25
###
###
###
###
###
-15.23
5.026
5.026
-32.73
-81.95
-81.95
-81.95
-81.95
-81.95
-82
-81.95
-82
-81.95
-82
-81.95
###
###
###
###
###
###
###
-39.7
-39.7
0
0
0
0
0

0
0
-25.28
-25.28
0
0
0
0
0
-13.79
46.565
46.565
18.004
1.961
1.961
1.961
1.961
29.961
-14.09
29.961
-14.09
29.961
-14.09
29.961
0
0
0
0
0
0
0
-30.18
-30.18
0
0
0
0
0

23

24

25

26

27

28

29

30

31

32

33

34

35

Servo time values

Right rear leg
Right middle leg
Right front leg
Left rear leg
Left middle leg
Coxa Femur Tibia
Coxa Femur Tibia
Coxa Femur Tibia
Coxa Femur Tibia
Coxa
T0
T1
T2
T4
T5
T6
T8
T9
T10
T16
T17
T18
T20
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

36

37

38

39

40

41

42

43

Left middle leg

Left front leg
Femur Tibia
Coxa Femur Tibia
T21
T22
T24
T25
T26
TMAX TTOTALINFO1
160
160
160
160
160
160
160 Flip box
160
160
160
160
160
160
160 Transition 12s to next pose
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160 Spesial pose 1 ready
200
200
200
200
200
200
200 Flipp box Pose 1
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200 flip front legs
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200 Touch box
200
200
200
200
200
200
200
200
200
200
200
200
200
200 Box flipped
200
200
200
200
200
200
200 front leg little forward
200
200
200
200
200
200
200 All legs down
160
160
160
160
160
160
160 Transition from Pose 1 to stnd
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160

160
160
90 Rotate demo
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160 Lift box
160 Transition 12s to next pose
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

Spesial pose1 lift box

Lift front leg
Grab box
LIft box

Slip box
Wave front legs

Move body down

Done
Transition from Pose 1 to stnd

Vacant sequence/step !!

Dimensions of leg:
Coxa length:
2.9 cm
Femur length:
7.6 cm
Tibia length
10.6 cm
Coxa offset:
60.0 deg

Dimensions of body :
Body 1 (inline or ovale):
FCX:
4.3 cm
FCZ:
8.2 cm
SCX:
6.3 cm
BCX
4.3 cm
BCZ:
8.2 cm
Lowest part of body:
Radius for circular body:

Com port settings

Body 2 (circular):
FCX:
5.4 cm
FCZ:
9.4 cm
SCX:
10.8 cm
BCX
5.4 cm
BCZ:
9.4 cm
3.0 cm
10.8 cm

Com port:
Baud rate

1
115200

Limit angle values:

Leg:
Coxa min
Coxa max
Femur min Femur max Tibia min
Tibia max
Left Front
-64.0 deg
70.0 deg
-90.0 deg
90.0 deg
-72.0 deg
90.0 deg
Left Middle
-51.0 deg
44.0 deg
-90.0 deg
90.0 deg
-72.0 deg
90.0 deg
Left Rear
-83.0 deg
44.0 deg
-90.0 deg
90.0 deg
-72.0 deg
90.0 deg
Right Front
-64.0 deg
70.0 deg
-90.0 deg
90.0 deg
-72.0 deg
90.0 deg
Right Middle
-51.0 deg
44.0 deg
-90.0 deg
90.0 deg
-72.0 deg
90.0 deg
Right Rear
-83.0 deg
45.0 deg
-90.0 deg
90.0 deg
-72.0 deg
90.0 deg

Limit PWM values from SEQ SSC32 configuration:

Leg:
Coxa min
Coxa 0 deg Coxa max
Femur min Femur 0 deg Femur max Tibia min
Tibia 0 deg Tibia max
Left Front
889
1549
2265
605
1515
2413
753
1505
2409
Left Middle
953
1489
1935
544
1449
2364
739
1484
2371
Left Rear
606
1443
1879
570
1463
2386
759
1464
2362
Right Front
784
1417
2109
620
1533
2500
772
1506
2376
Right Middle
1019
1527
1971
660
1521
2425
727
1454
2378
Right Rear
646
1501
1947
638
1523
2422
786
1531
2445
Attention! The servos at the right side must be calibrated reversed in SEQ SSC32 configuration!
Calculated PWM/deg factor:
Leg:
Coxa < 0
Coxa > 0
Left Front
-10.3125 10.2285714
Left Middle -10.5098039 10.1363636
Left Rear
-10.0843373 9.90909091

Femur < 0
-10.1111111
-10.0555556
-9.92222222

Femur > 0
9.97777778
10.1666667
10.2555556

Tibia < 0
-10.4444444
-10.3472222
-9.79166667

Tibia > 0
10.0444444
9.85555556
9.97777778

Right Front
-9.890625 9.88571429 -10.1444444 10.7444444 -10.1944444 9.66666667
Right Middle -9.96078431 10.0909091 -9.56666667 10.0444444 -10.0972222 10.2666667
Right Rear -10.3012048 9.91111111 -9.83333333 9.98888889 -10.3472222 10.1555556
Enter values in bright yellow cells only !

PROJECT SEQUENCE STEP

PhoenixLM01
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PhoenixLM01
1
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1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
1
PhoenixLM01
2
PhoenixLM01
2
PhoenixLM01
2

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
1
2
3

PIN0
PIN1
PIN2
PIN4
PIN5
7.10E-14
0
0
1.80E-13
0
7.10E-14
0
0
1.80E-13
0
7.10E-14
0
0
1.80E-13
0
7.10E-14
0
0
1.80E-13
0
7.10E-14
0
0
1.80E-13
0
7.10E-14
-31.248
-25.278
1.80E-13
0
7.10E-14
-31.248
-25.278
1.80E-13
0
7.10E-14
0
0
1.80E-13
0
7.10E-14
0
0
1.80E-13
0
7.10E-14
0
0
1.80E-13
-31.248
7.10E-14
0
0
-40
-31.248
7.10E-14
0
0
-40
5.94E-10
7.10E-14
0
0
-40
5.94E-10
7.10E-14
0
0
-40
5.94E-10
3.445
-6.004
0.96
-33.115
9.482
6.077
-11.698
2.527
-24.365
18.307
8.12
-16.982
4.717
-13.63
26.16
9.723
-21.788
7.54
-1.298
32.797
10.989
-26.07
11.005
11.579
38.189
11.99
-29.795
15.125
23.676
42.709
12.775
-32.933
19.931
34.069
47.335
13.381
-35.446
25.484
42.505
55.573
13.381
-35.446
25.484
42.505
55.573
13.381
-35.446
25.484
42.505
55.573
12.775
-32.933
19.931
34.069
47.335
11.99
-29.795
15.125
23.676
42.709
10.989
-26.07
11.005
11.579
38.189
9.723
-21.788
7.54
-1.298
32.797
8.12
-16.982
4.717
-13.63
26.16
6.077
-11.698
2.527
-24.365
18.307
3.445
-6.004
0.96
-33.115
9.482
0
0
0
-40
5.94E-10
0
0
0
-40
5.94E-10
7.10E-14
0
0
-40
5.94E-10
7.10E-14
0
0
-40
5.94E-10
7.10E-14
0
0
-40
5.94E-10
7.10E-14
0
0
-40
5.94E-10
7.10E-14
0
0
-40
5.94E-10
7.10E-14
-39.696
-30.181
-40
5.94E-10
7.10E-14
-39.696
-30.181
-40
5.94E-10
7.10E-14
0
0
-40
5.94E-10
7.10E-14
0
0
-40
5.94E-10
7.10E-14
0
0
-40
-39.696
7.10E-14
0
0
1.80E-13
-39.696
7.10E-14
0
0
1.80E-13
0
7.10E-14
0
0
1.80E-13
0
7.10E-14
0
0
1.80E-13
0
2.185
-11.453
-6.568
5.028
-0.304
3.804
-23.035
-12.166
9.943
-1.205
4.978
-34.666
-16.745
14.643
-2.678

PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
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PhoenixLM01
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PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01

2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
2
3
3
3
3
3
3
3
3
3
3

4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
1
2
3
4
5
6
7
8
9
10

5.789
6.288
6.504
6.288
5.789
4.978
3.804
2.185
7.10E-14
-2.938
-6.91
-12.345
-19.874
-30.311
-44.293
-30.311
-19.874
-12.345
-4.311
10.284
21.686
30.091
35.469
30.802
27.637
25.636
24.585
24.367
23.508
22.059
19.98
17.221
13.722
16.547
20.7
25.948
34.992
44.593
49.775
39.337
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14

-46.188
-57.371
-67.935
-57.371
-46.188
-34.666
-23.035
-11.453
0
11.305
22.495
33.655
44.956
56.859
72.012
56.859
44.956
33.655
41.317
35.239
27.273
18.076
8.159
-6.603
-21.704
-36.924
-51.805
-65.68
-57.908
-49.939
-41.95
-34.126
-26.654
-9.974
6.39
22.503
38.641
40.849
28.669
15.927
0
0
0
0
0
0
-31.248
-31.248
0
0
0

-20.226
-22.522
-23.559
-22.522
-20.226
-16.745
-12.166
-6.568
0
7.535
16.104
25.89
37.3
51.383
73.129
51.383
37.3
25.89
32.449
26.834
20.957
15.215
9.684
-0.355
-8.517
-14.712
-18.745
-20.419
-19.996
-18.995
-17.463
-15.469
-13.096
-4.897
5.396
17.776
33.113
37.583
29.106
16.051
0
0
0
0
0
0
-25.278
-25.278
0
0
0

19.049
23.105
26.783
23.105
19.049
14.643
9.943
5.028
3.50E-13
-5.028
-9.943
-14.643
-19.049
-23.105
-26.783
-23.105
-19.049
-14.643
-16.038
-10.701
-2.653
9.809
27.651
32.762
35.55
37.293
38.481
39.336
34.91
31.014
27.7
24.991
22.889
22.37
21.347
19.01
16.413
18.128
26.811
25.015
1.80E-13
1.80E-13
1.80E-13
1.80E-13
1.80E-13
1.80E-13
1.80E-13
1.80E-13
1.80E-13
1.80E-13
1.80E-13

-4.682
-7.167
-10.079
-7.167
-4.682
-2.678
-1.205
-0.304
0
-0.304
-1.205
-2.678
-4.682
-7.167
-10.079
-7.167
-4.682
-2.678
8.136
20.667
32.71
43.904
53.568
38.616
24.301
10.281
-3.578
-17.285
-22.644
-28.662
-35.212
-42.144
-49.289
-36.676
-23.765
-10.834
1.985
12.749
20.749
17.43
0
0
0
0
0
0
0
0
0
0
-31.248

PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01
PhoenixLM01

3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3
3

11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43

7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
5.926
7.633
7.633
7.633
7.633
7.633
7.633
7.633
7.633
1.604
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14
7.10E-14

0
0
0
0
0
0
0
0
0
2.683
-3.975
-3.975
-3.975
-3.975
-3.975
-3.975
-3.975
-25.415
16.288
0
0
0
0
0
-39.696
-39.696
0
0
0
0
0
0
0

0
0
0
0
0
0
0
0
0
15.651
14.247
14.247
14.247
14.247
14.247
14.247
14.247
-3.058
20.859
0
0
0
0
0
-30.181
-30.181
0
0
0
0
0
0
0

-40
-40
-40
-40
-40
-40
-40
-40
-40
-23.912
-13.34
-13.34
-13.34
-13.34
-13.34
-13.34
-13.34
-13.34
-37.317
-40
-40
-40
-40
-40
-40
-40
-40
-40
-40
1.80E-13
1.80E-13
1.80E-13
1.80E-13

-31.248
5.94E-10
5.94E-10
5.94E-10
5.94E-10
5.94E-10
5.94E-10
5.94E-10
5.94E-10
42.019
58.195
58.195
58.195
58.195
58.195
58.195
58.195
27.113
16.027
5.94E-10
5.94E-10
5.94E-10
5.94E-10
5.94E-10
5.94E-10
5.94E-10
5.94E-10
5.94E-10
-39.696
-39.696
0
0
0

PIN6
0
0
0
0
0
0
0
0
0
-25.278
-25.278
-0.000221
-0.000221
-0.000221
5.192
11.341
18.325
26.062
34.604
44.32
56.341
76.082
76.082
76.082
56.341
44.32
34.604
26.062
18.325
11.341
5.192
-0.000221
-0.000221
-0.000221
-0.000221
-0.000221
-0.000221
-0.000221
-0.000221
-0.000221
-0.000221
-0.000221
-30.181
-30.181
0
0
0
-0.084
-0.33
-0.727

PIN8

PIN9
0
0
-20
-20
-20
-20
-20
-20
-20
-20
-20
-20
-20
-20
-20
30
30
30
30
-10
-30
-30
-30
-30
-30
-30
-30
-30
-30
-30
-30
-30.001
-30
-20
-20
0
0
0
0
0
0
0
0
0
0
0
0
2.938
6.91
12.345

0
-31.248
-31.248
1.53E-10
1.53E-10
1.53E-10
1.53E-10
1.53E-10
1.53E-10
1.53E-10
1.53E-10
1.53E-10
1.53E-10
1.53E-10
1.53E-10
0
0
-48.439
-83.745
-83.745
-83.745
-43.955
-43.955
-43.955
-43.955
-43.955
-43.955
-43.955
-43.955
-25.918
-45.814
-53.35
-48.512
1.53E-10
-39.695
-39.696
0
0
0
0
0
0
0
0
0
0
0
11.305
22.495
33.655

PIN10
0
-25.278
-25.278
0.000112
0.000112
0.000112
0.000112
0.000112
0.000112
0.000112
0.000112
0.000112
0.000112
0.000112
0.000112
1.38E-09
1.38E-09
-34.474
0.962
55.962
55.962
23.19
83.19
23.19
83.19
23.19
83.19
28.19
58.19
6.922
-25.457
-56.336
-32.354
0.000112
-30.181
-30.181
0
0
0
0
0
0
0
0
0
0
0
7.535
16.104
25.89

PIN16
0
0
0
0
0
0
0
0
0
0
0
0
0
0
3.445
6.077
8.12
9.723
10.989
11.99
12.775
13.381
13.381
13.381
12.775
11.99
10.989
9.723
8.12
6.077
3.445
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
0
2.185
3.804
4.978

PIN17
0
0
0
0
0
0
0
0
0
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-16.38
-16.522
-16.38
-16.522
-16.38
-16.522
-0.38
-20
-20
-20
-20
-20
-20
-20
-20
0
0
0
0
0
0

7.05E-10
7.05E-10
7.05E-10
7.05E-10
-15.231
5.026
5.026
-32.729
-81.946
-81.946
-81.946
-81.946
-81.946
-81.995
-81.946
-81.995
-81.946
-81.995
-81.946
7.05E-10
7.05E-10
7.05E-10
7.05E-10
7.05E-10
7.05E-10
7.05E-10
-39.696
-39.696
0
0
0
0
0

-0.000241
-0.000241
-0.000241
-0.000241
-13.788
46.565
46.565
18.004
1.961
1.961
1.961
1.961
29.961
-14.093
29.961
-14.093
29.961
-14.093
29.961
-0.000241
-0.000241
-0.000241
-0.000241
-0.000241
-0.000241
-0.000241
-30.181
-30.181
0
0
0
0
0

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

T4

T5
160
160
160
160
160
160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160
90
90
90

T6
160
160
160
160
160
160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160
90
90
90

T8
160
160
160
160
160
160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160
90
90
90

T9
160
160
160
160
160
160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160
90
90
90

T10
160
160
160
160
160
160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160
90
90
90

T16
160
160
160
160
160
160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160
90
90
90

T17
160
160
160
160
160
160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160
90
90
90

160
160
160
160
160
160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160
90
90
90

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160
160
160
160
160
160

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160
160
160
160
160
160

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160
160
160
160
160
160

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160
160
160
160
160
160

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160
160
160
160
160
160

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160
160
160
160
160
160

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160
160
160
160
160
160

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

T18

T20
160
160
160
160
160
160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160
90
90
90

T21
160
160
160
160
160
160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160
90
90
90

T22
160
160
160
160
160
160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160
90
90
90

T24
160
160
160
160
160
160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160
90
90
90

T25
160
160
160
160
160
160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160
90
90
90

T26
160
160
160
160
160
160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160
90
90
90

TMAX
160
160
160
160
160
160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160
90
90
90

160
160
160
160
160
160
160
160
160
160
160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160
90
90
90

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160
160
160
160
160
160

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160
160
160
160
160
160

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160
160
160
160
160
160

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160
160
160
160
160
160

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160
160
160
160
160
160

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160
160
160
160
160
160

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160
160
160
160
160
160

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

TTOTAL

INFO1
160 Flip box
160 Transition 12s to next pose
160
160
160
160
160
160
160
160
160
160
160
160 Spesial pose 1 ready
200 Flipp box Pose 1
200
200
200
200
200
200
200
200 flip front legs
200
200
200
200
200
200
200 Touch box
200
200 Box flipped
200 front leg little forward
200 All legs down
160 Transition from Pose 1 to stnd
160
160
160
160
160
160
160
160
160
160
160
160
90 Rotate demo
90
90

90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
90
160 Lift box
160 Transition 12s to next pose
160
160
160
160
160
160
160
160

160
160
160
160
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
200
160
160
160
160
160
160
160
160
160
160
160
160
160

Spesial pose1 lift box

Lift front leg
Grab box
LIft box

Slip box
Wave front legs

Move body down

Done
Transition from Pose 1 to stnd

Seq.pointer
43
6
18
22
28
31
39
43

Mellomlager for generering a

Kommentar
Gait #. GaitStep #.
Ripple 12s # 1 start position
1
1
Ripple 12s # 2
1
2
Ripple 12s # 3
1
3
Ripple 12s # 4
1
4
Ripple 12s # 5
1
5
Ripple 12s # 6
1
6
Ripple 12s # 7
1
7
Ripple 12s # 8
1
8
Ripple 12s # 9
1
9
Ripple 12s # 10 end position
1
10
Ripple 12s # 11 leg up end pos.
1
11
Ripple 12s # 12 leg up start position
1
12
Transition ripple 12s # 1 - 10 legs
2
1
Transition ripple 12s # 11 legs up p
2
2
Transition ripple 12s # 12 legs up n
2
3
Transition ripple 12s # 13 legs dow
2
4
Ripple 6s # 1 start position
3
1
Ripple 6s # 2
3
2
Ripple 6s # 3
3
3
Ripple 6s # 4
3
4
Ripple 6s # 5 end position
3
5
Ripple 6s # 6 leg up start position
3
6
Transition ripple 6s # 1 - 5 legs do
4
1
Transition ripple 6s # 6 legs up pre
4
2
Transition ripple 6s # 7 legs down n
4
3
Tripod 8s # 1 start pos.
5
1
Tripod 8s # 2
5
2
Tripod 8s # 3
5
3
Tripod 8s # 4
5
4
Tripod 8s # 5
5
5
Tripod 8s # 6 end pos.
5
6
Tripod 8s # 7 leg up end pos.
5
7
Tripod 8s # 8 leg up start/next pos.
5
8
Transition tripod 8s # 1 - 6 legs do
6
1
Transition tripod 8s # 7 legs up pre
6
2
Transition tripod 8s # 8 legs up nex
6
3
Transition tripod 8s # 9 legs down n
6
4
0
0
0
0
0
0
0
0

Left front leg

Left middle leg
Coxa Femur Tibia
Coxa Femur
PIN0 PIN1
PIN2 PIN4
PIN5
-9.8
8.1
34.5 -26.1
0.5
-8.3
4.9
25.4 -21.4
0.2
-6.7
2.6
17.7 -16.4
0.1
-4.8
1.1
11.0
-11.1
0.0
-2.6
0.3
5.1
-5.6
0.0
0.0
0.0
0.0
0.0
0.0
3.1
0.3
-4.4
5.6
0.0
6.7
1.0
-8.2
11.1
0.0
11.2
2.2
-11.4
16.4
0.1
16.5
3.7 -14.0
21.4
0.2
16.5 -29.3 -41.4
21.4 -30.0
-9.8 -20.5
8.4 -26.1 -29.4
0.0
0.0
0.0 -40.0
0.0
0.0 -39.7 -30.2 -40.0 -39.7
0.0 -39.7 -30.2
0.0 -39.7
0.0
0.0
0.0
0.0
0.0
-4.8
1.1
11.0
-11.1
0.0
-2.6
0.3
5.1
-5.6
0.0
0.0
0.0
0.0
0.0
0.0
3.1
0.3
-4.4
5.6
0.0
6.7
1.0
-8.2
11.1
0.0
6.7 -31.2 -34.3
11.1 -30.6

0
0
0
0

10

11

12

13

14

15

16

17

18

19

20

21

22

ager for generering av walking gaits

middle leg
Tibia
PIN6
6.9
4.4
2.4
1.1
0.3
0.0
0.3
1.1
2.4
4.4
-20.1
-17.4
0.0
-30.2
-30.2
0.0
1.1
0.3
0.0
0.3
1.1
-23.6

Left rear leg

Right front leg
Right middle leg
Right rear leg
Coxa Femur Tibia
Coxa Femur Tibia
Coxa Femur Tibia
Coxa Femur Tibia
PIN8 PIN9
PIN10 PIN16 PIN17 PIN18 PIN20 PIN21 PIN22 PIN24 PIN25 PIN26
-23.1
5.3 -16.0
-9.8
8.1
34.5 -26.1
0.5
6.9 -23.1
5.3 -16.0
-16.5
3.7 -14.0
-8.3
4.9
25.4 -21.4
0.2
4.4 -16.5
3.7 -14.0
-11.2
2.2
-11.4
-6.7
2.6
17.7 -16.4
0.1
2.4
-11.2
2.2
-11.4
-6.7
1.0
-8.2
-4.8
1.1
11.0
-11.1
0.0
1.1
-6.7
1.0
-8.2
-3.1
0.3
-4.4
-2.6
0.3
5.1
-5.6
0.0
0.3
-3.1
0.3
-4.4
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
2.6
0.3
5.1
3.1
0.3
-4.4
5.6
0.0
0.3
2.6
0.3
5.1
4.8
1.1
11.0
6.7
1.0
-8.2
11.1
0.0
1.1
4.8
1.1
11.0
6.7
2.6
17.7
11.2
2.2
-11.4
16.4
0.1
2.4
6.7
2.6
17.7
8.3
4.9
25.4
16.5
3.7 -14.0
21.4
0.2
4.4
8.3
4.9
25.4
8.3 -23.7
0.5
16.5 -29.3 -41.4
21.4 -30.0 -20.1
8.3 -23.7
0.5
-23.1 -27.7 -44.1
-9.8 -20.5
8.4 -26.1 -29.4 -17.4 -23.1 -27.7 -44.1
-20.0
0.0
0.0
0.0
0.0
0.0 -40.0
0.0
0.0 -20.0
0.0
0.0
-20.0 -39.7 -30.2
0.0 -39.7 -30.2 -40.0 -39.7 -30.2 -20.0 -39.7 -30.2
0.0 -39.7 -30.2
0.0 -39.7 -30.2
0.0 -39.7 -30.2
0.0 -39.7 -30.2
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
-6.7
1.0
-8.2
-4.8
1.1
11.0
-11.1
0.0
1.1
-6.7
1.0
-8.2
-3.1
0.3
-4.4
-2.6
0.3
5.1
-5.6
0.0
0.3
-3.1
0.3
-4.4
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
2.6
0.3
5.1
3.1
0.3
-4.4
5.6
0.0
0.3
2.6
0.3
5.1
4.8
1.1
11.0
6.7
1.0
-8.2
11.1
0.0
1.1
4.8
1.1
11.0
4.8 -28.3 -13.3
6.7 -31.2 -34.3
11.1 -30.6 -23.6
4.8 -28.3 -13.3

23

24

25

26

27

28

29

30

31

32

33

34

35

Servo time blir ikke brukt her.Time settes ved generering.

Left front leg
Coxa Femur Tibia
T0
T1
T2

Left middle leg

Coxa Femur Tibia
T4
T5
T6

Left rear leg

Coxa Femur Tibia
T8
T9
T10

Right front leg

Coxa Femur Tibia
T16
T17
T18

Right middle leg

Coxa
T20

36
Right middle leg
Femur Tibia
T21
T22

37

38

39

Right rear leg

Coxa Femur Tibia
T24
T25
T26

40

41

42

43

TMAX TTOTALINFO1
Ripple 12s # 1 start position
Ripple 12s # 2
Ripple 12s # 3
Ripple 12s # 4
Ripple 12s # 5
Ripple 12s # 6
Ripple 12s # 7
Ripple 12s # 8
Ripple 12s # 9
Ripple 12s # 10 end position
Ripple 12s # 11 leg up end pos.
Ripple 12s # 12 leg up start position
Transition ripple 12s # 1 - 10 legs down previous pose
Transition ripple 12s # 11 legs up previous pose
Transition ripple 12s # 12 legs up next pose
Transition ripple 12s # 13 legs down next pose
Ripple 6s # 1 start position
Ripple 6s # 2
Ripple 6s # 3
Ripple 6s # 4
Ripple 6s # 5 end position
Ripple 6s # 6 leg up start position
Transition ripple 6s # 1 - 5 legs down previous pose
Transition ripple 6s # 6 legs up previous pose
Transition ripple 6s # 7 legs down next pose
Tripod 8s # 1 start pos.
Tripod 8s # 2
Tripod 8s # 3
Tripod 8s # 4
Tripod 8s # 5
Tripod 8s # 6 end pos.
Tripod 8s # 7 leg up end pos.
Tripod 8s # 8 leg up start/next pos.
Transition tripod 8s # 1 - 6 legs down previous pose
Transition tripod 8s # 7 legs up previous pose
Transition tripod 8s # 8 legs up next pose
Transition tripod 8s # 9 legs down next pose

legs down previous pose

s up previous pose
s up next pose
s down next pose

gs down previous pose

up previous pose
down next pose

gs down previous pose

up previous pose
up next pose
down next pose

Beregner X Y verdier ut fra gitt vinkel p femur og tibia til Phoenix hexapod
FORWARD KINEMATICS
rad
Coxa lengde
Femur vinkel
Femur lengde
Tibia vinkel
Tibia lengde
wrist
tip

2.9
0
7.6
0
10.6
0
0

sin

INVERS

cos

height
depth
2.9000
0.0000

1.5708

1.0000

0.0000

-1.5708

0.0000

1.0000

0.0000

0.0000

1.0000

7.6000

-90

Femur vinkel
Tibia vinkel

0.0000

10.6000

0.0000

0.0000

10.5000

10.6000

90

Kopier fra IK

Verdier fra IK

0.0000 wrist

0
0

X verdier
Coxa
Femur pkt
Tibia pkt
Fot
Under kropp

0
2.9000
10.5000
10.5000
0.0000
20

B
q1
Y verdier
q2
0 shldr
0.0000 elbow
0.0000
10.6000
3.0000
3

Fot

INVERSE KINEMATICS
X
Y
Utstrekking Hev og senk
10.5000 10.6000
7.6000

10.6000

-20.0000
-18.0000
-16.0000
-14.0000
-12.0000

13.04301
0.622032
0.948764
1.570796
1.570796

-10.0000

35.63981
54.36019
90
-90

-8.0000
-6.0000
-4.0000
-2.0000
0.0000

4.0000
2.0000

0.0000
2.0000
4.0000
6.0000
8.0000
10.0000
12.0000
14.0000
16.0000
18.0000
20.0000

6.0000

8.0000
12.0000
16.0000
20.000
10.0000
14.0000
18.0000

12.0000
16.0000
20.0000
.0000
14.0000
18.0000

coxa
Femur
Tibia
Under kropp

Beregner vinkel til hofteledd og kneledd til Phoenix Hexapod fot ut fra XFORWARD KINEMATICS
rad
Coxa lengde
Femur vinkel
Femur lengde
Tibia vinkel
Tibia lengde
wrist
hand

2.9
90.00
7.6
-90.00
10.6
0.00
0

sin

cos

1.5708

1.0000

-1.5708

0.0000

0.0000

0.0000

INVERSE
Kopier fra FK

height
depth
2.9000
0.0000 Fot
0.0000
Step verdi i cm
7.6000
0.0000
1.0000
0.0000
10.6000 wrist
1.0000
0.0000
0.0000 XY-Verdier fra FK
10.5000

X verdier
Coxa
Femur pkt
Tibia pkt
Fot pkt
Under kropp

0
2.9000
10.5000
10.5000
0.0000
20

10.6000
S>W
A1
Y verdier
A2
0 Femur vinkel
0.0000 Tibia vinkel
0.0000
10.6000
3.0000
3

exapod fot ut fra X-Y koordinater

Kopier fra FK

INVERSE KINEMATICS
X
Y
Utstrekking Hev og senk
0
10.5000
10.6000
0.1

-18.0000
-16.0000
-14.0000

7.6000

10.6000

10.5

10.6

Verdier fra FK
degrees

13.04301
0.622032 35.6398092
0.948764 54.3601908
1.570796
90
1.570796
-90

-12.0000
-10.0000
-8.0000

SOLUTION
-6.0000

0
0

-4.0000
-2.0000
0.0000

4.0000
2.0000

0.0000
2.0000
4.0000
6.0000
8.0000
10.0000
12.0000
14.0000
16.0000
18.0000

8.0000
6.0000

12.0000
16.0000
2
10.0000
14.0000
18.0000

12.0000
16.0000
20.0000
00
14.0000
18.0000

coxa
Femur
Tibia
Under kropp