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The leg reference description

In this section of the robot configuration file we have to choose the reference position for each leg. This position is given in the leg frame of reference (and so independently of the particular leg positioning). These reference positions are the ones initially used to evaluate the tensions and balances (see sections 2.1.6) but the user can change them from the robot controller using the appropriate set of functions (see section 3.2.7)



Josep M. Porta Pleite
8/2/2000