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小木虫论坛-学术科研互动平台 » 计算模拟区 » 仿真模拟 » MATLAB » 双足机器人行走棍图怎么用MATLAB画出来啊？求助啊！！！
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szb21971

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[求助] 双足机器人行走棍图怎么用MATLAB画出来啊？求助啊！！！ 已有1人参与

双足机器人行走棍图怎么用MATLAB画出来啊？求助啊！！！
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1楼 2015-01-11 11:04:17
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szb21971

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我也看到这个了，可是没有看懂，您会这个东西吗？太着急了！
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2楼2015-01-11 11:14:47
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szb21971

银虫 (正式写手)
我也找到这个了，可是，我还是没有弄明白，比较着急哈
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3楼2015-01-11 11:15:36
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sichanglong

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是要画出关节的连线的连续运动图么？
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我郁闷呀，啥都不会，还要写报告。。。。：(
4楼2015-01-11 16:20:18
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szb21971

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引用回帖:
4楼: Originally posted by sichanglong at 2015-01-11 16:20:18
是要画出关节的连线的连续运动图么？

嗯
5楼2015-01-12 08:30:41
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szb21971

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引用回帖:
4楼: Originally posted by sichanglong at 2015-01-11 16:20:18
是要画出关节的连线的连续运动图么？

嗯啊
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6楼2015-01-12 08:31:03
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blackwave

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【答案】应助回帖

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szb21971: 金币+10, ★有帮助 2015-01-19 09:46:24
The following is a function I wrote to generate a stick diagram of robot motion. Hope it is helpful to you all.   

function [foot2] = stick(filename,user_frame_per_second,max_step)
global robot
foot2=[];
mov_traj = load(filename);

dt = mov_traj(2,1) - mov_traj(1,1);
frame_per_second = fix(1/dt);
if user_frame_per_second == 0
    show_frame_per_second = frame_per_second;
else
    show_frame_per_second = user_frame_per_second;
end
capture_frame_per_second = 20;
color0 = [0 0 0];
color1 = [0 0 0];
color2 = [0 0 0];
color3 = [1 1 1]*0.5;
color4 = [1 1 1]*0.5;
width = 2;
scrsz = get(0,'ScreenSize');
animation = figure;
%hold on
xxlim = [-0.8 0.8]
yylim = [ 0.0 1.6]
set(animation,'name','2D walking','Position',[100 100 450 450]);
h_axes = axes('Parent',animation,'Units','Pixels','Position',[50 40 400 400],'Ylim',yylim,'Xlim',xxlim);

%tx = text('Parent',h_axes,'Visible','off');
set(h_axes,'visible','on');
ground  = line('Parent',h_axes,'Color',[0 0 0],'Visible','off','LineWidth',2);
set(ground, 'Parent',h_axes,'Xdata',xxlim,'Ydata', [0 0],'visible','on');

idx =1
ss_flag = 0;
step_count = 0;
l_ankle_pos = zeros(2,1); l_knee_pos = zeros(2,1); l_hip_pos  = zeros(2,1); head_pos   = zeros(2,1);
r_knee_pos = zeros(2,1); r_ankle_pos = zeros(2,1);

r_ankle_pos_b_save = [-1,0]';
base = [0 0]';
for i = 1:size(mov_traj,1)
  tt = mov_traj(i,1);
  l_ankle_abs = mov_traj(i,2);
  l_knee_abs  = l_ankle_abs + mov_traj(i,3);
  l_hip_abs   = l_knee_abs + mov_traj(i,4);
  r_hip_abs   = l_hip_abs + mov_traj(i,5);
  r_knee_abs  = r_hip_abs + mov_traj(i,6);
%  r_knee_abs  = r_knee_abs;
  l_ankle_pos_b =[0 0]';
  l_knee_pos_b = [ -robot.calf_length * sin(l_ankle_abs) robot.calf_length* cos(l_ankle_abs)]';
  l_hip_pos_b  = [l_knee_pos_b(1)-sin(l_knee_abs)*robot.thigh_length  l_knee_pos_b(2)+cos(l_knee_abs)*robot.thigh_length ]';
  head_pos_b   = [l_hip_pos_b(1)-sin(l_hip_abs)*robot.torso_length l_hip_pos_b(2) + cos(l_hip_abs)*robot.torso_length]';
  r_knee_pos_b = [l_hip_pos_b(1)+sin(r_hip_abs)*robot.thigh_length l_hip_pos_b(2) - cos(r_hip_abs)*robot.thigh_length]';
  r_ankle_pos_b = [r_knee_pos_b(1)+sin(r_knee_abs)*robot.calf_length r_knee_pos_b(2) - cos(r_knee_abs)*robot.calf_length]';

  if (r_ankle_pos_b_save(1) > 0 && r_ankle_pos_b(1) < 0) % switch
      step_count = step_count +1;
      if step_count >= max_step
          break
      end
      ss_flag = 1;
    tmp = color0; color0 = color4; color4=tmp;
    tmp = color1; color1 = color3; color3=tmp;
    set(l_calf,'Color',color0,'Visible','off');
    set(l_thigh,'Color',color1,'Visible','off');
    set(torso,'Color',color2,'Visible','off')
    set(r_thigh,'Color',color3,'Visible','off');
    set(r_calf,'Color',color4,'Visible','off');
    %     hip_travel = hip_travel + r_ankle_pos_b_save(1);
%     ground_height = ground_height + r_ankle_pos_b_save(2);
    base = base + r_ankle_pos_b_save;
    %ground_height  =0 ;
    %set(h_axes,'Ylim',[-0.05+ground_height 1.95+ground_height]);
    base;
    r_ankle_pos_b_save;
    r_ankle_pos_b;
    %pause   
  end  
  r_ankle_pos_b_save = r_ankle_pos_b;
%  drift = l_hip_pos(1);
%   l_ankle_pos(1) = l_ankle_pos(1) - drift;
%   l_knee_pos(1) = l_knee_pos(1) - drift;
%   l_hip_pos(1)  = l_hip_pos(1) - drift;
%   head_pos(1)   = head_pos(1) - drift;
%   r_knee_pos(1) = r_knee_pos(1) - drift;
%   r_ankle_pos(1) = r_ankle_pos(1) - drift;
  l_ankle_pos = l_ankle_pos_b + base;
  l_knee_pos = l_knee_pos_b  + base;
  l_hip_pos  = l_hip_pos_b  + base;
  head_pos   = head_pos_b  + base;
  r_knee_pos = r_knee_pos_b  + base;
  r_ankle_pos = r_ankle_pos_b  + base;
  
  foot2 = [foot2,r_ankle_pos];


  if (mod(i,fix(frame_per_second/show_frame_per_second)) == 1 )
            torso   = line('Parent',h_axes,'Color',color2,'Visible','off','LineWidth',width);
            r_thigh = line('Parent',h_axes,'Color',color3,'Visible','off','LineWidth',width);
            r_calf  = line('Parent',h_axes,'Color',color4,'Visible','off','LineWidth',width);
            l_calf  = line('Parent',h_axes,'Color',color0,'Visible','off','LineWidth',width);
            l_thigh = line('Parent',h_axes,'Color',color1,'Visible','off','LineWidth',width);
            
            if mod(step_count,2) == 1
                set(l_calf, 'Parent',h_axes,'Xdata',[l_ankle_pos(1) l_knee_pos(1)],'Ydata', [l_ankle_pos(2) l_knee_pos(2)],'visible','on');
                set(l_thigh, 'Parent',h_axes,'Xdata',[l_knee_pos(1) l_hip_pos(1)],'Ydata', [l_knee_pos(2) l_hip_pos(2)],'visible','on');
                set(torso, 'Parent',h_axes,'Xdata',[l_hip_pos(1) head_pos(1)],'Ydata', [l_hip_pos(2) head_pos(2)],'visible','on');
                set(r_thigh, 'Parent',h_axes,'Xdata',[l_hip_pos(1) r_knee_pos(1)],'Ydata', [l_hip_pos(2) r_knee_pos(2)],'visible','on');
                set(r_calf, 'Parent',h_axes,'Xdata',[r_knee_pos(1) r_ankle_pos(1)],'Ydata', [r_knee_pos(2) r_ankle_pos(2)],'visible','on');
            else
                set(torso, 'Parent',h_axes,'Xdata',[l_hip_pos(1) head_pos(1)],'Ydata', [l_hip_pos(2) head_pos(2)],'visible','on');
                set(r_thigh, 'Parent',h_axes,'Xdata',[l_hip_pos(1) r_knee_pos(1)],'Ydata', [l_hip_pos(2) r_knee_pos(2)],'visible','on');
                set(r_calf, 'Parent',h_axes,'Xdata',[r_knee_pos(1) r_ankle_pos(1)],'Ydata', [r_knee_pos(2) r_ankle_pos(2)],'visible','on');
                set(l_calf, 'Parent',h_axes,'Xdata',[l_ankle_pos(1) l_knee_pos(1)],'Ydata', [l_ankle_pos(2) l_knee_pos(2)],'visible','on');
                set(l_thigh, 'Parent',h_axes,'Xdata',[l_knee_pos(1) l_hip_pos(1)],'Ydata', [l_knee_pos(2) l_hip_pos(2)],'visible','on');
               
            end

          stime=sprintf('time:%5.2f',tt);
      %set(tx,'Parent',h_axes,'Position',[l_hip_pos(1),1.8],'String',stime,'visible','on');
      %set(h_axes,'Xlim',[l_hip_pos(1)-1.0 l_hip_pos(1)+1.0]);
      drawnow;
  end
  if l_ankle_pos(1) > xxlim(2)
      break
  end
end
xlabel('(m)')
ylabel('(m)')
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7楼2015-01-15 11:38:18
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zbyoyicc

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引用回帖:
7楼: Originally posted by blackwave at 2015-01-15 11:38:18
The following is a function I wrote to generate a stick diagram of robot motion. Hope it is helpful to you all.   

function  = stick(filename,user_frame_per_second,max_step)
global robot
foot2= ...

虽然 程序 看不懂 但是感觉 很腻害的呀
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8楼2015-03-23 14:30:54
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