diff --git a/basics/index.html b/basics/index.html index ccaae04..3ada6e4 100644 --- a/basics/index.html +++ b/basics/index.html @@ -170,7 +170,7 @@

Basic Knowledge for SpaceDyn User

For the representation of attitude or orientation, we use 3 by 3 direction cosine matrices. The advantage of direction cosine is (1) singularity free, (2) we can easily defive Roll-Pitch-Yaw angles, Euler angles, or quartanions, and (3) it is easy to find the mathematical relationship with angular velocity.

  • -

    On the other hand, we frequently need Roll-Pitch-Yaw (RPY) replresentation also. For example, in order to express the twisting angles between two coordinate systems, we consider α=0\alpha=0 (roll) around xx-axis, β\beta (pitch) around yy-axis, then γ\gamma (yaw) around zz-axis.

    +

    On the other hand, we frequently need Roll-Pitch-Yaw (RPY) replresentation also. For example, in order to express the twisting angles between two coordinate systems, we consider α\alpha (roll) around xx-axis, β\beta (pitch) around yy-axis, then γ\gamma (yaw) around zz-axis.

  • Weak points: The SpaceDyn is not good at dealing with kinematic constraints other than joint axes. It is also weak at dealing with the problems in which a contact point is dynamically changing. For those problems, a good user programming is required to model the constraint forces.

    diff --git a/css/custom.css b/css/custom.css index 8c376fc..66c09c4 100644 --- a/css/custom.css +++ b/css/custom.css @@ -1,6 +1,7 @@ body { font-family: "Arial"; --themecolor: #002060; + text-align: justify; } h1, h2, h3, h4, h5, h6 { diff --git a/index.html b/index.html index 3bbff48..7d20126 100644 --- a/index.html +++ b/index.html @@ -229,5 +229,5 @@

    Acknowledgement

    diff --git a/search/search_index.json b/search/search_index.json index d4a20c6..13f40d3 100644 --- a/search/search_index.json +++ b/search/search_index.json @@ -1 +1 @@ -{"config":{"indexing":"full","lang":["en"],"min_search_length":3,"prebuild_index":false,"separator":"[\\s\\-]+"},"docs":[{"location":"","text":"SpaceDyn Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital(at)grp.tohoku.ac.jp Overview The SpaceDyn is a MATLAB/C++ library for the kinematic and dynamic analysis and simulation of articulated multi-body systems with a moving base. Examples of such systems are a satellite with mechanical appendages, a free-flying space robot, a wheeled mobile robot, and a walking robot, all of which makes motions in the environment with or without gravity. This toolbox can handle open chain systems with topological tree configuration. A parallel manipulator, for example, then cannot be supported directly. A walking robot contacting on the ground with more than two legs or limbs at a time seems to form a closed chain including the ground, however, we can handle such a system with a proper model of ground contact at each contact point. Parallel manipulators can be treated with virtual cut of a kinematic chain and a corresponding virtual force model. Some academic papers regarding this toolbox is published by Kazuya Yoshida and his co-author(s) [1]. For the technical points of this software, please consult those publications as well as the following chapters of this online user manual. We hope that you could find this toolbox useful for your application. Notice Now, the Spacedyn is Version 2, Release 0. The Spacedyn is a free software. You can download and use it freely for your academic purpose. Any of commercial use is kindly refused. There is no warranty for any damages caused by this software. If you intend to modify and re-distribute the Spacedyn, please consult us. The MATLAB toolbox of Spacedyn requires MATLAB 5.0 or higher. ( It uses functions that are not supported in 4.0 or lower.) Reference Note If you use this simulator in an academic context, please put the following citation. [1] K.Yoshida, The SpaceDyn: a MATLAB toolbox for space and mobile robots, Proc. IEEE/RSJ IROS , pp. 1633--1638. 1 2 3 4 5 6 7 8 9 @ inproceedings { spacedyn , title = { The SpaceDyn : a MATLAB toolbox for space and mobile robots }, author = { Kazuya Yoshida }, booktitle = { Proceedings 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems }, volume = { 3 }, pages = { 1633 -- 1638 }, year = { 1999 }, doi = { 10.1109 / IROS . 1999.811712 }, } This paper is available in IEEE Xplorer . Release Note Oct. 7th, 1999, SpcaeDyn version 1 release 0 was released in the original webpage . Sep. 17th, 2020, SpaceDyn version 2 release 0 was released in GitHub. Oct. 16th, 2020, SpaceDyn C++ was released in GitHub. May. 31th, 2024, SpaceDyn version 2 release 1 was released in GitHub. Debug integral of base orientation (fixed f_dyn_rk2 and dc2qtn , added qtn2dc and w2dQtn ) FAQ Please read this document for details, and FAQ Page . For bug reports or any questions, please contact us via e-mail : 1 spacedyn_support(at)astro.mech.tohoku.ac.jp or 1 srl-orbital(at)grp.tohoku.ac.jp Acknowledgement SpaceDyn is originally developed and released by alumini of SRL listed in the original dcument . C++ version is developed by Dr. Satoko Abiko and Dr. Yoichiro Sato.","title":"Top"},{"location":"#spacedyn","text":"Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital(at)grp.tohoku.ac.jp","title":"SpaceDyn"},{"location":"#overview","text":"The SpaceDyn is a MATLAB/C++ library for the kinematic and dynamic analysis and simulation of articulated multi-body systems with a moving base. Examples of such systems are a satellite with mechanical appendages, a free-flying space robot, a wheeled mobile robot, and a walking robot, all of which makes motions in the environment with or without gravity. This toolbox can handle open chain systems with topological tree configuration. A parallel manipulator, for example, then cannot be supported directly. A walking robot contacting on the ground with more than two legs or limbs at a time seems to form a closed chain including the ground, however, we can handle such a system with a proper model of ground contact at each contact point. Parallel manipulators can be treated with virtual cut of a kinematic chain and a corresponding virtual force model. Some academic papers regarding this toolbox is published by Kazuya Yoshida and his co-author(s) [1]. For the technical points of this software, please consult those publications as well as the following chapters of this online user manual. We hope that you could find this toolbox useful for your application.","title":"Overview"},{"location":"#notice","text":"Now, the Spacedyn is Version 2, Release 0. The Spacedyn is a free software. You can download and use it freely for your academic purpose. Any of commercial use is kindly refused. There is no warranty for any damages caused by this software. If you intend to modify and re-distribute the Spacedyn, please consult us. The MATLAB toolbox of Spacedyn requires MATLAB 5.0 or higher. ( It uses functions that are not supported in 4.0 or lower.)","title":"Notice"},{"location":"#reference","text":"Note If you use this simulator in an academic context, please put the following citation. [1] K.Yoshida, The SpaceDyn: a MATLAB toolbox for space and mobile robots, Proc. IEEE/RSJ IROS , pp. 1633--1638. 1 2 3 4 5 6 7 8 9 @ inproceedings { spacedyn , title = { The SpaceDyn : a MATLAB toolbox for space and mobile robots }, author = { Kazuya Yoshida }, booktitle = { Proceedings 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems }, volume = { 3 }, pages = { 1633 -- 1638 }, year = { 1999 }, doi = { 10.1109 / IROS . 1999.811712 }, } This paper is available in IEEE Xplorer .","title":"Reference"},{"location":"#release-note","text":"Oct. 7th, 1999, SpcaeDyn version 1 release 0 was released in the original webpage . Sep. 17th, 2020, SpaceDyn version 2 release 0 was released in GitHub. Oct. 16th, 2020, SpaceDyn C++ was released in GitHub. May. 31th, 2024, SpaceDyn version 2 release 1 was released in GitHub. Debug integral of base orientation (fixed f_dyn_rk2 and dc2qtn , added qtn2dc and w2dQtn )","title":"Release Note"},{"location":"#faq","text":"Please read this document for details, and FAQ Page . For bug reports or any questions, please contact us via e-mail : 1 spacedyn_support(at)astro.mech.tohoku.ac.jp or 1 srl-orbital(at)grp.tohoku.ac.jp","title":"FAQ"},{"location":"#acknowledgement","text":"SpaceDyn is originally developed and released by alumini of SRL listed in the original dcument . C++ version is developed by Dr. Satoko Abiko and Dr. Yoichiro Sato.","title":"Acknowledgement"},{"location":"6_development_policy/","text":"6. Development Policy \u672c\u7ae0\u3067\u306fClimbLab\u3092\u4f7f\u3063\u3066\u958b\u767a\u3092\u304a\u3053\u306a\u3046\u5834\u5408\u306e\u6ce8\u610f\u70b9\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e \u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u308a\u6a5f\u80fd\u3092\u8ffd\u52a0\u3059\u308b\u5834\u5408\u306f\uff0c\u6b21\u306e\u53d6\u308a\u6c7a\u3081\u3092\u5b88\u3063\u3066\u304a\u3053\u306a\u3046\uff0e\u57fa\u672c\u7684\u306a\u30b3\u30f3\u30bb\u30d7\u30c8\u3068\u3057\u3066\uff0c\u30b7\u30f3\u30d7\u30eb\uff0c\u304b\u3064\u4eca\u5f8c\u3082\u958b\u767a\u3092\u7d9a\u3051\u3084\u3059\u3044\u3088\u3046\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3092\u5b88\u308a\uff0c\u304b\u3064\u8ab0\u304c\u8aad\u3093\u3067\u3082\u8aad\u307f\u3084\u3059\u304f\u7406\u89e3\u3057\u3084\u3059\u3044\u3088\u3046\u306b\u66f8\u304f\u3053\u3068\u3092\u5fc3\u304c\u3051\u308b\uff0e 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\u4ee5\u5916\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7528Main\u95a2\u6570\u306f\u4f5c\u6210\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u305f\u308b\u6240\u4ee5\u306f\uff0c\u300c1\u3064\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3067\u591a\u69d8\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u53ef\u80fd\u3067\u3042\u308b\u300d\u3053\u3068\u306b\u3042\u308b\u305f\u3081\uff0c\u305d\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3092\u5897\u3084\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u305d\u306e\u305f\u3081\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u6a5f\u80fd\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u3082\uff0c\u65e2\u5b58\u306e main_sim \u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u5fc5\u305a\u5b9f\u88c5\u3059\u308b\uff0e \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u691c\u8a3c\u3057\u306a\u304c\u3089\u5b9f\u88c5\u3059\u308b\u969b\uff0c\u6b21\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\u3068\u958b\u767a\u304c\u30b9\u30e0\u30fc\u30ba\u306b\u9032\u3080\u305f\u3081\uff0c\u5fc5\u8981\u3067\u306f\u306a\u3044\u8a2d\u5b9a\u306foff\u306b\u3059\u308b\u3068\u3088\u3044\uff0e * dynamics\u304c\u5fc5\u8981\u3067\u306a\u3044\u5834\u5408\u306f\uff0cdynamics\u3092off\u306b\u3059\u308b * \u6b69\u884c\u3059\u308b\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0cgait type\u3092\u2019do_nothing\u2019\u306b\u3059\u308b * \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u4f55\u79d2\u3082\u56de\u3059\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6700\u5927\u6642\u9593\u30920\u79d2\u306b\u3059\u308b\uff0e \u307e\u305f\uff0c\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u308b\u5834\u5408\u306e\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u306b\u3064\u3044\u3066\u306f\uff0c4\u7ae0\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\uff0c\u5171\u901a\u3057\u305f\u5f79\u5272\u3067\u304f\u304f\u3089\u308c\u308b\u9069\u5207\u306a\u30d5\u30a9\u30eb\u30c0\u306b\u7f6e\u304f\uff0e \u305d\u306e\u6642\u306e\uff0c\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\uff0e \u30b9\u30cd\u30fc\u30af\u30b1\u30fc\u30b9\u3092\u7528\u3044\u308b \u2715 updGiaCalculation.m \u3007 upd_gia_calulation.m \u95a2\u6570\u540d\u306b\u5927\u6587\u5b57\u306f\u4f7f\u308f\u306a\u3044 \u2715 upd_GIA_calculation.m \u3007 upd_gia_calculation.m \u95a2\u6570\u306e\u63a5\u982d\u8f9e\u3092\uff0c\u6b21\u306e\u65e2\u5b58\u306e\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u306e\u3063\u3068\u3063\u3066\u63a1\u7528\u3059\u308b config_: 2.4\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e ini_: 2.5\u7bc0\u53c2\u7167\uff0e\u30ed\u30dc\u30c3\u30c8\u3084\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306e\u521d\u671f\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570 upd_: 2.6\u7bc0\u53c2\u7167\uff0e\u30eb\u30fc\u30d7\u5185\u3067\uff0c\u6b69\u5bb9\u3084\u5236\u5fa1\u30fb\u529b\u5b66\u306b\u95a2\u308f\u308b\u95a2\u6570 vis_: 2.7\u7bc0\u53c2\u7167\uff0e\u56f3\u306e\u63cf\u753b\u306b\u95a2\u308f\u308b\u95a2\u6570 sav_: 2.8\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5c65\u6b74\u306e\u4fdd\u5b58\u306b\u95a2\u308f\u308b\u95a2\u6570 main_ : 3\u7ae0\u53c2\u7167\uff0e\u5358\u4f53\u3067\u5b9f\u884c\u3057\u3066climblab\u306e\u958b\u767a\u306b\u6709\u7528\u306a\u95a2\u6570\u306b\u4ed8\u3051\u308b \u95a2\u6570\u306e\u540d\u524d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u69cb\u308f\u306a\u3044\u306e\u3067\uff0c\u305d\u306e\u95a2\u6570\u304c\u3069\u3046\u3044\u3046\u6a5f\u80fd\u3092\u6709\u3057\u3066\u3044\u308b\u306e\u304b\u5206\u304b\u308b\u3088\u3046\u306b\u66f8\u304f\uff0e \u4e0a\u8a18\u306e\u30eb\u30fc\u30eb\u306b\u306e\u3063\u3068\u3063\u3066\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u5f8c\u306e\uff0c\u5177\u4f53\u7684\u306a\u30b3\u30fc\u30c9\u306e\u8a18\u8ff0\u30eb\u30fc\u30eb\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u4ee5\u964d\u306e\u5185\u5bb9\u306f\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u5b9f\u88c5\u306e\u969b\u306b\u3082\u5171\u901a\u3059\u308b\u6ce8\u610f\u4e8b\u9805\u3067\u3042\u308b\uff0e 1. \u65b0\u3057\u3044\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306e\u5192\u982d\u306b\u305d\u306e\u95a2\u6570\u306e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u660e\u78ba\u306b\u8a18\u8f09\u3059\u308b\uff0e \u3053\u306e\u5192\u982d\u306e\u8a18\u8ff0\u3092\u8aad\u3080\u3060\u3051\u3067\uff0c\u305d\u306e\u95a2\u6570\u306e\u304a\u304a\u307e\u304b\u306a\u6a5f\u80fd\u304c\u628a\u63e1\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e \u8a18\u8ff0\u3059\u308b\u9805\u76ee\u306f\uff0c \u95a2\u6570\u306e\u304f\u304f\u308a(configuration/update/visualize/save/main) \u95a2\u6570\u540d \u95a2\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u4f5c\u6210\u65e5\u6642 \u4f5c\u6210\u8005 \u6700\u7d42\u7de8\u96c6\u65e5\u6642 \u6700\u7d42\u7de8\u96c6\u8005 \u95a2\u6570\u306e\u8a73\u7d30\u306a\u8aac\u660e \u51fa\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u5165\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u3067\u3042\u308b\uff0e\u4ee5\u4e0b\u306b\u8a18\u8ff0\u4f8b\u3092\u793a\u3059\uff0e 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 %%%%%% Configuration %%%%%% config_save_settings %%%%%% %%%%%% Configure default saving settings %%%%%% %%%%%% Created 2020 - 07 - 08 %%%%%% Warley Ribeiro %%%%%% Last update : 2021 - 03 - 31 %%%%%% Keigo Haji % % % Load default configurations for saving % % Function variables : % % OUTPUT % save_settings : Data saving settings ( struct ) % INPUT % - 2. \u3080\u3084\u307f\u306bmain_sim\u5185\u306b\u65b0\u305f\u306a\u95a2\u6570\u306e\u8a18\u8ff0\u3092\u5897\u3084\u3055\u305a\uff0cmain_sim\u5185\u3067\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\u65e2\u5b58\u306e\u95a2\u6570\u5185\u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\uff0e \u3053\u308c\u306f\uff0cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u6a5f\u80fd\u3057\u3066\u3044\u304f\u305f\u3081\u306bmain_sim\u306e\u4e00\u822c\u6027\u3092\u62c5\u4fdd\u3059\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u307e\u305f\uff0c\u540c\u6642\u306bmain_sim\u3092\u8907\u6570\u4eba\u304c\u7de8\u96c6\u3059\u308b\u3068Git\u306emerge\u306e\u969b\u306bconflict\u304c\u767a\u751f\u3057\u3084\u3059\u304f\u306a\u308b\u306e\u3067\uff0c\u305d\u306e\u554f\u984c\u3092\u907f\u3051\u308b\u3068\u3044\u3046\u76ee\u7684\u3082\u3042\u308b\uff0e \u60aa\u3044\u4f8b\uff09main_sim\u5185\u306b\u76f4\u63a5\u5b9f\u88c5 1 2 3 4 5 6 7 8 9 10 MAIN_FILE . m ... disp ( time ); if gait_param . type = \u2018 new_gait \u2019 new_gait ( ... ) else path_planning_param = upd_path_planning ( ... ); end [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... \u826f\u3044\u4f8b\uff09main_sim\u306f\u305d\u306e\u307e\u307e\u306b\uff0cupd\u95a2\u6570\u5185\u3067\u5834\u5408\u5206\u3051\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MAIN_FILE . m ... disp ( time ); path_planning_param = upd_path_planning ( ... ); [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... FUNCTION_FILE . m function path_planning_param = upd_path_planning ( ... ) switch gait_param . type case \u2018 new_gait \u2019 new_gait ( ... ); case \u2018 old_gait \u2019 ... 3. \u5909\u6570\u306f\u306a\u308b\u3079\u304fclass\u306b\u53ce\u5bb9\u3059\u308b \u5927\u91cf\u306e\u30ed\u30fc\u30ab\u30eb\u5909\u6570\u3092\u95a2\u6570\u5185\u3067\u306a\u308b\u3079\u304f\u6271\u308f\u306a\u3044\u3088\u3046\u306b\u3059\u308b\uff0e\u3053\u308c\u306fMATLAB\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u3067\u306e\u5909\u6570\u306e\u628a\u63e1\u304c\u96e3\u3057\u304f\u306a\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u5909\u6570\u306e\"\u304f\u304f\u308a\"\u3092\u8003\u3048\u3066\uff0c\u65e2\u5b58\u306eclass\u306b\u3042\u3066\u306f\u307e\u308b\u5834\u5408\u306f\u65e2\u5b58\u306eclass( gait_planning_param , motion_planning_param \u7b49)\u306b\u53ce\u5bb9\u3057\uff0c\u306a\u3044\u5834\u5408\u306f\u81ea\u5206\u306e\u6a5f\u80fd\u306b\u3042\u3063\u305f\u65b0\u305f\u306aclass\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\uff0e \u60aa\u3044\u4f8b\uff09local\u5909\u6570\u304c\u591a\u3044\uff0e 1 2 3 4 5 6 7 8 ... leg1_des_pos = \u2026 leg2_des_pos = \u2026 leg3_des_pos = \u2026 leg4_des_pos = \u2026 base_des_pos = ... generate_trajectory ( leg1_des_pos , leg2_des_pos , leg3_des_pos , leg4_des_pos , base_des_pos ); ... \u3044\u3044\u4f8b\uff09\u5909\u6570\u304cclass\u306b\u5206\u985e\u3055\u308c\u3066\u3044\u308b 1 2 3 4 5 ... path_planning_param . leg_des_pos = \u2026 path_planning_param . base_des_pos = \u2026 generate_trajectory ( path_planning_param ); ... 4. \u5909\u6570\u540d\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u3064\u3051\u308b \u5909\u6570\u540d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u3044\u3044\u306e\u3067\uff0c\u8ab0\u306b\u3067\u3082\u308f\u304b\u308b\u3088\u3046\u306b\u4ed8\u3051\u308b\uff0e\u5909\u6570\u540d\u306e\u4ed8\u3051\u65b9\u306f\u95a2\u6570\u3068\u540c\u3058\u304f\uff0csnake_case\u3067\u7d71\u4e00\u3057\uff0ccamelCase\u306f\u4f7f\u308f\u306a\u3044\uff0e\u307e\u305f\uff0c\u305d\u306e\u5909\u6570\u304c\u3069\u3046\u3044\u3046\u5024\u3092\u53ce\u5bb9\u3057\uff0c\u305d\u306e\u5358\u4f4d(\u6b21\u5143)\u306f\u306a\u3093\u306a\u306e\u304b\u3092\u30b3\u30e1\u30f3\u30c8\u3067\u660e\u8a18\u3059\u308b\uff0e \u60aa\u3044\u4f8b\uff09\u4eba\u304c\u8aad\u3093\u3067\u3082\u4f55\u306e\u7565\u79f0\u304b\u308f\u304b\u3089\u306a\u3044 1 2 3 4 5 ... L1 = \u2026 WP . T = \u2026 GPM = ... ... \u3044\u3044\u4f8b\uff09\u30b3\u30e1\u30f3\u30c8\u3084\u5909\u6570\u540d\u304b\u3089\u4f55\u306e\u5024\u304c\u3069\u3046\u3044\u3046\u5358\u4f4d\u6b21\u5143\u3067\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u304b\u5206\u304b\u308b 1 2 3 4 5 6 7 8 \u2026 % Desired position of a leg [m] motion_planning_param . des_leg_pos = \u2026 % Period for crawl gait [s] gait_parameter . T = \u2026 % Grippable points [m] surface_param . grippable_points = ... ... 5. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u5fc5\u305a\u7e70\u308a\u8fd4\u3057\u30c6\u30b9\u30c8\u3092\u304a\u3053\u306a\u3046 \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u5f8c\u306f\uff0c\u30d1\u30e9\u30e1\u30fc\u30bf\u3084\u8a2d\u5b9a\u3092\u5909\u3048\u3066\u30c6\u30b9\u30c8\u3092\u7e70\u308a\u8fd4\u3057\uff0c\u30d0\u30b0\u304c\u767a\u751f\u3057\u306a\u3044\u3053\u3068\u3092\u78ba\u304b\u3081\u3066\u304b\u3089\u4e0a\u7d1a\u751f\u306bReview\u3092\u304a\u9858\u3044\u3059\u308b\uff0e 6. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u65e2\u5b58\u306epreset\u3067\u3082\u5b9f\u884c\u3057\uff0c\u554f\u984c\u304c\u306a\u3044\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b \u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3053\u3068\u3067\uff0c\u3053\u308c\u307e\u306epreset\u304c\u56de\u3089\u306a\u304f\u306a\u3063\u305f\u308a\uff0c\u4ed6\u306e\u958b\u767a\u8005\u306e\u958b\u767a\u74b0\u5883\u3068\u5e72\u6e09\u3059\u308b\u6050\u308c\u304c\u3042\u308b\u305f\u3081\uff0cconfig\u8a2d\u5b9a\u3092\u65e2\u5b58\u306epreset\u306b\u3057\u3066\u5168\u3066\u306epreset\u3092\u5b9f\u884c\u3057\uff0c\u554f\u984c\u306a\u304f\u5b9f\u884c\u3055\u308c\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e 7. \u95a2\u6570\u3092\u6d88\u3055\u306a\u3044 \u3069\u3093\u306a\u95a2\u6570\u3067\u3042\u308c\uff0c\u3080\u3084\u307f\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65b0\u305f\u306a\u6a5f\u80fd\u306b\u3088\u3063\u3066\uff0c\u6b69\u884c\u304c\u5b89\u5b9a\u3057\u305f\u308a\u901f\u304f\u306a\u3063\u305f\u308a\u3059\u308b\u3088\u3046\u306a\u4f55\u304b\u7d50\u679c\u304c\u3088\u304f\u306a\u308b\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3068\u3057\u3066\u3082\uff0c\u524d\u307e\u3067\u3042\u3063\u305f\u95a2\u6570\u306f\u7d76\u5bfe\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65e2\u5b58\u306e\u95a2\u6570\u306f\uff0c\u3053\u308c\u307e\u3067\u306e\u8ca1\u7523\u3067\u3042\u308a\uff0c\u78ba\u5b9f\u306b\u3053\u308c\u307e\u3067\u7a3c\u52d5\u3057\u3066\u3044\u305f\u3068\u3044\u3046\u70b9\u3067\u975e\u5e38\u306b\u6709\u7528\u306a\u3082\u306e\u3067\u3042\u308b\uff0e\u624b\u6cd5\u306e\u6bd4\u8f03\u3092\u304a\u3053\u306a\u3046\u969b\u3084\uff0c\u307e\u305f\u30b7\u30f3\u30d7\u30eb\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u65b9\u304c\u7406\u89e3\u3057\u3084\u3059\u3044\u3068\u3044\u3046\u70b9\u3067\u597d\u307e\u308c\uff0c\u5fc5\u8981\u3068\u3055\u308c\u308b\u5834\u5408\u3082\u3042\u308b\uff0e\u305d\u308c\u307e\u3067\u306e\u95a2\u6570\u3092\u524a\u9664\u30fb\u66f4\u65b0\u3059\u308b\u306e\u3067\u306f\u306a\u304f\uff0c\u65b0\u305f\u306a\u6a5f\u80fd\u30fb\u30b1\u30fc\u30b9\u3092\u8ffd\u52a0\u3059\u308b\u3068\u3044\u3046\u70b9\u3092\u610f\u8b58\u3057\uff0c\u65e2\u5b58\u306e\u95a2\u6570\u30fb\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u4e21\u65b9\u304c\u6271\u3048\u308b\u3088\u3046\u306b\u958b\u767a\u3092\u9032\u3081\u308b\uff0e 8. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3082\u540c\u6642\u9032\u884c\u3067\u958b\u767a\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u5fd8\u308c\u306a\u3044 ClimbLab\u306f\u5e38\u306b\u8907\u6570\u540d\u304c\u540c\u6642\u306b\u958b\u767a\u3092\u3059\u3059\u3081\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u3057\u3066\u3044\u308b\u9593\u306b\uff0c\u8ab0\u304b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u958b\u767a\u3092\u7d42\u308f\u3089\u305b\u3066\u65b0\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\u3053\u3068\u304c\u3088\u304f\u767a\u751f\u3059\u308b\uff0e\u3053\u306e\u969b\uff0cdevelop\u30d6\u30e9\u30f3\u30c1\u306erebase\u3092\u5e38\u306b\u304a\u3053\u306a\u3046\u3053\u3068\uff0e\u81ea\u5206\u304c\u958b\u767a\u6bb5\u968e\u3067\u63a1\u7528\u3057\u3066\u3044\u305f\u95a2\u6570\u304c\uff0c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u4e00\u90e8\u5909\u66f4\u3055\u308c\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\uff0c\u5e38\u306b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u958b\u767a\u72b6\u6cc1\u306b\u3064\u3044\u3066\u628a\u63e1\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u5f53\u7136\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u304c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306b\u3082\u5f71\u97ff\u3092\u4e0e\u3048\u308b\u305f\u3081\uff0c\u5e38\u306b\u5831\u544a\u30fb\u9023\u7d61\u30fb\u76f8\u8ac7\u3092\u5fd8\u308c\u306a\u3044\uff0e 9. \u81ea\u5206\u306e\u304a\u3053\u306a\u3063\u305f\u5909\u66f4\u70b9\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u30e1\u30f3\u30d0\u30fc\u306b\u5171\u6709\u3059\u308b \u4e0a\u3067\u3082\u8ff0\u3079\u305f\u3068\u304a\u308a\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u306f\u4ed6\u4eba\u306e\u958b\u767a\u306b\u5f71\u97ff\u3092\u4e0e\u3048\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u4f55\u304b\u65b0\u3057\u3044\u6a5f\u80fd\u306e\u958b\u767a\u3092\u7d42\u3048\u305f\u3089\uff0c\u305d\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u3069\u3093\u306a\u70b9\u304c\u5909\u66f4\u3055\u308c\u305f\u306e\u304b\u3092\uff0c\u305d\u306e\u4f5c\u696d\u306e\u5f53\u4e8b\u8005\u3067\u306f\u306a\u3044\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u9054\u306b\u3082\u308f\u304b\u308a\u3084\u3059\u304f\u5171\u6709\u3059\u308b\uff0e 10. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3068\u7591\u554f\u70b9\u30fb\u554f\u984c\u70b9\u3092\u5171\u6709\u3059\u308b \u540c\u3058\u7591\u554f\u3092\u4ed6\u306e\u958b\u767a\u30e1\u30f3\u30d0\u30fc\u3082\u62b1\u3044\u3066\u3044\u305f\u308a\uff0c\u3082\u3057\u304f\u306f\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u7d4c\u9a13\u304c\u3042\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e\u307e\u305f\u306f\uff0c\u305d\u306e\u554f\u984c\u3092\u89e3\u6c7a\u3059\u308b\u3088\u3046\u306a\u6a5f\u80fd\u3092\u65b0\u305f\u306b\u5225\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u5b9f\u88c5\u3057\u3066\u304f\u308c\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e 11. \u898b\u3064\u3051\u305f\u30d0\u30b0\u3092\u5831\u544a\u3059\u308b \u958b\u767a\u4e2d\u306b\u30d0\u30b0\u3092\u898b\u3064\u3051\u305f\u3089\uff0c\u307f\u3093\u306a\u306b\u5171\u6709\u3059\u308b\u3053\u3068\uff0e\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u3068\u601d\u308f\u308c\u3066\u3044\u305f\u30d0\u30b0\u306e\u767a\u898b\u3084\u81f4\u547d\u7684\u306a\u6b20\u9665\u304c\u3042\u308b\u307e\u307e\u958b\u767a\u3092\u9032\u3081\u306a\u3044\u3088\u3046\u306b\uff0c\u3059\u3050\u306b\u82bd\u3092\u3064\u3080\uff0e","title":"6 development policy"},{"location":"6_development_policy/#6-development-policy","text":"\u672c\u7ae0\u3067\u306fClimbLab\u3092\u4f7f\u3063\u3066\u958b\u767a\u3092\u304a\u3053\u306a\u3046\u5834\u5408\u306e\u6ce8\u610f\u70b9\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e \u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u308a\u6a5f\u80fd\u3092\u8ffd\u52a0\u3059\u308b\u5834\u5408\u306f\uff0c\u6b21\u306e\u53d6\u308a\u6c7a\u3081\u3092\u5b88\u3063\u3066\u304a\u3053\u306a\u3046\uff0e\u57fa\u672c\u7684\u306a\u30b3\u30f3\u30bb\u30d7\u30c8\u3068\u3057\u3066\uff0c\u30b7\u30f3\u30d7\u30eb\uff0c\u304b\u3064\u4eca\u5f8c\u3082\u958b\u767a\u3092\u7d9a\u3051\u3084\u3059\u3044\u3088\u3046\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3092\u5b88\u308a\uff0c\u304b\u3064\u8ab0\u304c\u8aad\u3093\u3067\u3082\u8aad\u307f\u3084\u3059\u304f\u7406\u89e3\u3057\u3084\u3059\u3044\u3088\u3046\u306b\u66f8\u304f\u3053\u3068\u3092\u5fc3\u304c\u3051\u308b\uff0e \u3000\u3053\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u7406\u5ff5\u3092\u5b88\u308b\u3053\u3068\u306f\u975e\u5e38\u306b\u91cd\u8981\u3067\u3042\u308a\uff0c\u305d\u306e\u305f\u3081\u306b\u91cd\u8981\u306a\u3053\u3068\u3068\u3057\u3066\uff0c\u65e2\u5b58\u306e main_sim \u4ee5\u5916\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7528Main\u95a2\u6570\u306f\u4f5c\u6210\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u305f\u308b\u6240\u4ee5\u306f\uff0c\u300c1\u3064\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3067\u591a\u69d8\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u53ef\u80fd\u3067\u3042\u308b\u300d\u3053\u3068\u306b\u3042\u308b\u305f\u3081\uff0c\u305d\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3092\u5897\u3084\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u305d\u306e\u305f\u3081\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u6a5f\u80fd\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u3082\uff0c\u65e2\u5b58\u306e main_sim \u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u5fc5\u305a\u5b9f\u88c5\u3059\u308b\uff0e \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u691c\u8a3c\u3057\u306a\u304c\u3089\u5b9f\u88c5\u3059\u308b\u969b\uff0c\u6b21\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\u3068\u958b\u767a\u304c\u30b9\u30e0\u30fc\u30ba\u306b\u9032\u3080\u305f\u3081\uff0c\u5fc5\u8981\u3067\u306f\u306a\u3044\u8a2d\u5b9a\u306foff\u306b\u3059\u308b\u3068\u3088\u3044\uff0e * dynamics\u304c\u5fc5\u8981\u3067\u306a\u3044\u5834\u5408\u306f\uff0cdynamics\u3092off\u306b\u3059\u308b * \u6b69\u884c\u3059\u308b\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0cgait type\u3092\u2019do_nothing\u2019\u306b\u3059\u308b * \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u4f55\u79d2\u3082\u56de\u3059\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6700\u5927\u6642\u9593\u30920\u79d2\u306b\u3059\u308b\uff0e \u307e\u305f\uff0c\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u308b\u5834\u5408\u306e\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u306b\u3064\u3044\u3066\u306f\uff0c4\u7ae0\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\uff0c\u5171\u901a\u3057\u305f\u5f79\u5272\u3067\u304f\u304f\u3089\u308c\u308b\u9069\u5207\u306a\u30d5\u30a9\u30eb\u30c0\u306b\u7f6e\u304f\uff0e \u305d\u306e\u6642\u306e\uff0c\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\uff0e \u30b9\u30cd\u30fc\u30af\u30b1\u30fc\u30b9\u3092\u7528\u3044\u308b \u2715 updGiaCalculation.m \u3007 upd_gia_calulation.m \u95a2\u6570\u540d\u306b\u5927\u6587\u5b57\u306f\u4f7f\u308f\u306a\u3044 \u2715 upd_GIA_calculation.m \u3007 upd_gia_calculation.m \u95a2\u6570\u306e\u63a5\u982d\u8f9e\u3092\uff0c\u6b21\u306e\u65e2\u5b58\u306e\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u306e\u3063\u3068\u3063\u3066\u63a1\u7528\u3059\u308b config_: 2.4\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e ini_: 2.5\u7bc0\u53c2\u7167\uff0e\u30ed\u30dc\u30c3\u30c8\u3084\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306e\u521d\u671f\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570 upd_: 2.6\u7bc0\u53c2\u7167\uff0e\u30eb\u30fc\u30d7\u5185\u3067\uff0c\u6b69\u5bb9\u3084\u5236\u5fa1\u30fb\u529b\u5b66\u306b\u95a2\u308f\u308b\u95a2\u6570 vis_: 2.7\u7bc0\u53c2\u7167\uff0e\u56f3\u306e\u63cf\u753b\u306b\u95a2\u308f\u308b\u95a2\u6570 sav_: 2.8\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5c65\u6b74\u306e\u4fdd\u5b58\u306b\u95a2\u308f\u308b\u95a2\u6570 main_ : 3\u7ae0\u53c2\u7167\uff0e\u5358\u4f53\u3067\u5b9f\u884c\u3057\u3066climblab\u306e\u958b\u767a\u306b\u6709\u7528\u306a\u95a2\u6570\u306b\u4ed8\u3051\u308b \u95a2\u6570\u306e\u540d\u524d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u69cb\u308f\u306a\u3044\u306e\u3067\uff0c\u305d\u306e\u95a2\u6570\u304c\u3069\u3046\u3044\u3046\u6a5f\u80fd\u3092\u6709\u3057\u3066\u3044\u308b\u306e\u304b\u5206\u304b\u308b\u3088\u3046\u306b\u66f8\u304f\uff0e \u4e0a\u8a18\u306e\u30eb\u30fc\u30eb\u306b\u306e\u3063\u3068\u3063\u3066\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u5f8c\u306e\uff0c\u5177\u4f53\u7684\u306a\u30b3\u30fc\u30c9\u306e\u8a18\u8ff0\u30eb\u30fc\u30eb\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u4ee5\u964d\u306e\u5185\u5bb9\u306f\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u5b9f\u88c5\u306e\u969b\u306b\u3082\u5171\u901a\u3059\u308b\u6ce8\u610f\u4e8b\u9805\u3067\u3042\u308b\uff0e","title":"6. Development Policy"},{"location":"6_development_policy/#1","text":"\u3053\u306e\u5192\u982d\u306e\u8a18\u8ff0\u3092\u8aad\u3080\u3060\u3051\u3067\uff0c\u305d\u306e\u95a2\u6570\u306e\u304a\u304a\u307e\u304b\u306a\u6a5f\u80fd\u304c\u628a\u63e1\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e \u8a18\u8ff0\u3059\u308b\u9805\u76ee\u306f\uff0c \u95a2\u6570\u306e\u304f\u304f\u308a(configuration/update/visualize/save/main) \u95a2\u6570\u540d \u95a2\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u4f5c\u6210\u65e5\u6642 \u4f5c\u6210\u8005 \u6700\u7d42\u7de8\u96c6\u65e5\u6642 \u6700\u7d42\u7de8\u96c6\u8005 \u95a2\u6570\u306e\u8a73\u7d30\u306a\u8aac\u660e \u51fa\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u5165\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u3067\u3042\u308b\uff0e\u4ee5\u4e0b\u306b\u8a18\u8ff0\u4f8b\u3092\u793a\u3059\uff0e 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 %%%%%% Configuration %%%%%% config_save_settings %%%%%% %%%%%% Configure default saving settings %%%%%% %%%%%% Created 2020 - 07 - 08 %%%%%% Warley Ribeiro %%%%%% Last update : 2021 - 03 - 31 %%%%%% Keigo Haji % % % Load default configurations for saving % % Function variables : % % OUTPUT % save_settings : Data saving settings ( struct ) % INPUT % -","title":"1. \u65b0\u3057\u3044\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306e\u5192\u982d\u306b\u305d\u306e\u95a2\u6570\u306e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u660e\u78ba\u306b\u8a18\u8f09\u3059\u308b\uff0e"},{"location":"6_development_policy/#2-main_simmain_sim","text":"\u3053\u308c\u306f\uff0cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u6a5f\u80fd\u3057\u3066\u3044\u304f\u305f\u3081\u306bmain_sim\u306e\u4e00\u822c\u6027\u3092\u62c5\u4fdd\u3059\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u307e\u305f\uff0c\u540c\u6642\u306bmain_sim\u3092\u8907\u6570\u4eba\u304c\u7de8\u96c6\u3059\u308b\u3068Git\u306emerge\u306e\u969b\u306bconflict\u304c\u767a\u751f\u3057\u3084\u3059\u304f\u306a\u308b\u306e\u3067\uff0c\u305d\u306e\u554f\u984c\u3092\u907f\u3051\u308b\u3068\u3044\u3046\u76ee\u7684\u3082\u3042\u308b\uff0e \u60aa\u3044\u4f8b\uff09main_sim\u5185\u306b\u76f4\u63a5\u5b9f\u88c5 1 2 3 4 5 6 7 8 9 10 MAIN_FILE . m ... disp ( time ); if gait_param . type = \u2018 new_gait \u2019 new_gait ( ... ) else path_planning_param = upd_path_planning ( ... ); end [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... \u826f\u3044\u4f8b\uff09main_sim\u306f\u305d\u306e\u307e\u307e\u306b\uff0cupd\u95a2\u6570\u5185\u3067\u5834\u5408\u5206\u3051\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MAIN_FILE . m ... disp ( time ); path_planning_param = upd_path_planning ( ... ); [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... FUNCTION_FILE . m function path_planning_param = upd_path_planning ( ... ) switch gait_param . type case \u2018 new_gait \u2019 new_gait ( ... ); case \u2018 old_gait \u2019 ...","title":"2. \u3080\u3084\u307f\u306bmain_sim\u5185\u306b\u65b0\u305f\u306a\u95a2\u6570\u306e\u8a18\u8ff0\u3092\u5897\u3084\u3055\u305a\uff0cmain_sim\u5185\u3067\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\u65e2\u5b58\u306e\u95a2\u6570\u5185\u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\uff0e"},{"location":"6_development_policy/#3-class","text":"\u5927\u91cf\u306e\u30ed\u30fc\u30ab\u30eb\u5909\u6570\u3092\u95a2\u6570\u5185\u3067\u306a\u308b\u3079\u304f\u6271\u308f\u306a\u3044\u3088\u3046\u306b\u3059\u308b\uff0e\u3053\u308c\u306fMATLAB\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u3067\u306e\u5909\u6570\u306e\u628a\u63e1\u304c\u96e3\u3057\u304f\u306a\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u5909\u6570\u306e\"\u304f\u304f\u308a\"\u3092\u8003\u3048\u3066\uff0c\u65e2\u5b58\u306eclass\u306b\u3042\u3066\u306f\u307e\u308b\u5834\u5408\u306f\u65e2\u5b58\u306eclass( gait_planning_param , motion_planning_param \u7b49)\u306b\u53ce\u5bb9\u3057\uff0c\u306a\u3044\u5834\u5408\u306f\u81ea\u5206\u306e\u6a5f\u80fd\u306b\u3042\u3063\u305f\u65b0\u305f\u306aclass\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\uff0e \u60aa\u3044\u4f8b\uff09local\u5909\u6570\u304c\u591a\u3044\uff0e 1 2 3 4 5 6 7 8 ... leg1_des_pos = \u2026 leg2_des_pos = \u2026 leg3_des_pos = \u2026 leg4_des_pos = \u2026 base_des_pos = ... generate_trajectory ( leg1_des_pos , leg2_des_pos , leg3_des_pos , leg4_des_pos , base_des_pos ); ... \u3044\u3044\u4f8b\uff09\u5909\u6570\u304cclass\u306b\u5206\u985e\u3055\u308c\u3066\u3044\u308b 1 2 3 4 5 ... path_planning_param . leg_des_pos = \u2026 path_planning_param . base_des_pos = \u2026 generate_trajectory ( path_planning_param ); ...","title":"3. \u5909\u6570\u306f\u306a\u308b\u3079\u304fclass\u306b\u53ce\u5bb9\u3059\u308b"},{"location":"6_development_policy/#4","text":"\u5909\u6570\u540d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u3044\u3044\u306e\u3067\uff0c\u8ab0\u306b\u3067\u3082\u308f\u304b\u308b\u3088\u3046\u306b\u4ed8\u3051\u308b\uff0e\u5909\u6570\u540d\u306e\u4ed8\u3051\u65b9\u306f\u95a2\u6570\u3068\u540c\u3058\u304f\uff0csnake_case\u3067\u7d71\u4e00\u3057\uff0ccamelCase\u306f\u4f7f\u308f\u306a\u3044\uff0e\u307e\u305f\uff0c\u305d\u306e\u5909\u6570\u304c\u3069\u3046\u3044\u3046\u5024\u3092\u53ce\u5bb9\u3057\uff0c\u305d\u306e\u5358\u4f4d(\u6b21\u5143)\u306f\u306a\u3093\u306a\u306e\u304b\u3092\u30b3\u30e1\u30f3\u30c8\u3067\u660e\u8a18\u3059\u308b\uff0e \u60aa\u3044\u4f8b\uff09\u4eba\u304c\u8aad\u3093\u3067\u3082\u4f55\u306e\u7565\u79f0\u304b\u308f\u304b\u3089\u306a\u3044 1 2 3 4 5 ... L1 = \u2026 WP . T = \u2026 GPM = ... ... \u3044\u3044\u4f8b\uff09\u30b3\u30e1\u30f3\u30c8\u3084\u5909\u6570\u540d\u304b\u3089\u4f55\u306e\u5024\u304c\u3069\u3046\u3044\u3046\u5358\u4f4d\u6b21\u5143\u3067\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u304b\u5206\u304b\u308b 1 2 3 4 5 6 7 8 \u2026 % Desired position of a leg [m] motion_planning_param . des_leg_pos = \u2026 % Period for crawl gait [s] gait_parameter . T = \u2026 % Grippable points [m] surface_param . grippable_points = ... ...","title":"4. \u5909\u6570\u540d\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u3064\u3051\u308b"},{"location":"6_development_policy/#5","text":"\u65b0\u3057\u3044\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u5f8c\u306f\uff0c\u30d1\u30e9\u30e1\u30fc\u30bf\u3084\u8a2d\u5b9a\u3092\u5909\u3048\u3066\u30c6\u30b9\u30c8\u3092\u7e70\u308a\u8fd4\u3057\uff0c\u30d0\u30b0\u304c\u767a\u751f\u3057\u306a\u3044\u3053\u3068\u3092\u78ba\u304b\u3081\u3066\u304b\u3089\u4e0a\u7d1a\u751f\u306bReview\u3092\u304a\u9858\u3044\u3059\u308b\uff0e","title":"5. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u5fc5\u305a\u7e70\u308a\u8fd4\u3057\u30c6\u30b9\u30c8\u3092\u304a\u3053\u306a\u3046"},{"location":"6_development_policy/#6-preset","text":"\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3053\u3068\u3067\uff0c\u3053\u308c\u307e\u306epreset\u304c\u56de\u3089\u306a\u304f\u306a\u3063\u305f\u308a\uff0c\u4ed6\u306e\u958b\u767a\u8005\u306e\u958b\u767a\u74b0\u5883\u3068\u5e72\u6e09\u3059\u308b\u6050\u308c\u304c\u3042\u308b\u305f\u3081\uff0cconfig\u8a2d\u5b9a\u3092\u65e2\u5b58\u306epreset\u306b\u3057\u3066\u5168\u3066\u306epreset\u3092\u5b9f\u884c\u3057\uff0c\u554f\u984c\u306a\u304f\u5b9f\u884c\u3055\u308c\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e","title":"6. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u65e2\u5b58\u306epreset\u3067\u3082\u5b9f\u884c\u3057\uff0c\u554f\u984c\u304c\u306a\u3044\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b"},{"location":"6_development_policy/#7","text":"\u3069\u3093\u306a\u95a2\u6570\u3067\u3042\u308c\uff0c\u3080\u3084\u307f\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65b0\u305f\u306a\u6a5f\u80fd\u306b\u3088\u3063\u3066\uff0c\u6b69\u884c\u304c\u5b89\u5b9a\u3057\u305f\u308a\u901f\u304f\u306a\u3063\u305f\u308a\u3059\u308b\u3088\u3046\u306a\u4f55\u304b\u7d50\u679c\u304c\u3088\u304f\u306a\u308b\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3068\u3057\u3066\u3082\uff0c\u524d\u307e\u3067\u3042\u3063\u305f\u95a2\u6570\u306f\u7d76\u5bfe\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65e2\u5b58\u306e\u95a2\u6570\u306f\uff0c\u3053\u308c\u307e\u3067\u306e\u8ca1\u7523\u3067\u3042\u308a\uff0c\u78ba\u5b9f\u306b\u3053\u308c\u307e\u3067\u7a3c\u52d5\u3057\u3066\u3044\u305f\u3068\u3044\u3046\u70b9\u3067\u975e\u5e38\u306b\u6709\u7528\u306a\u3082\u306e\u3067\u3042\u308b\uff0e\u624b\u6cd5\u306e\u6bd4\u8f03\u3092\u304a\u3053\u306a\u3046\u969b\u3084\uff0c\u307e\u305f\u30b7\u30f3\u30d7\u30eb\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u65b9\u304c\u7406\u89e3\u3057\u3084\u3059\u3044\u3068\u3044\u3046\u70b9\u3067\u597d\u307e\u308c\uff0c\u5fc5\u8981\u3068\u3055\u308c\u308b\u5834\u5408\u3082\u3042\u308b\uff0e\u305d\u308c\u307e\u3067\u306e\u95a2\u6570\u3092\u524a\u9664\u30fb\u66f4\u65b0\u3059\u308b\u306e\u3067\u306f\u306a\u304f\uff0c\u65b0\u305f\u306a\u6a5f\u80fd\u30fb\u30b1\u30fc\u30b9\u3092\u8ffd\u52a0\u3059\u308b\u3068\u3044\u3046\u70b9\u3092\u610f\u8b58\u3057\uff0c\u65e2\u5b58\u306e\u95a2\u6570\u30fb\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u4e21\u65b9\u304c\u6271\u3048\u308b\u3088\u3046\u306b\u958b\u767a\u3092\u9032\u3081\u308b\uff0e","title":"7. \u95a2\u6570\u3092\u6d88\u3055\u306a\u3044"},{"location":"6_development_policy/#8","text":"ClimbLab\u306f\u5e38\u306b\u8907\u6570\u540d\u304c\u540c\u6642\u306b\u958b\u767a\u3092\u3059\u3059\u3081\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u3057\u3066\u3044\u308b\u9593\u306b\uff0c\u8ab0\u304b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u958b\u767a\u3092\u7d42\u308f\u3089\u305b\u3066\u65b0\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\u3053\u3068\u304c\u3088\u304f\u767a\u751f\u3059\u308b\uff0e\u3053\u306e\u969b\uff0cdevelop\u30d6\u30e9\u30f3\u30c1\u306erebase\u3092\u5e38\u306b\u304a\u3053\u306a\u3046\u3053\u3068\uff0e\u81ea\u5206\u304c\u958b\u767a\u6bb5\u968e\u3067\u63a1\u7528\u3057\u3066\u3044\u305f\u95a2\u6570\u304c\uff0c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u4e00\u90e8\u5909\u66f4\u3055\u308c\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\uff0c\u5e38\u306b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u958b\u767a\u72b6\u6cc1\u306b\u3064\u3044\u3066\u628a\u63e1\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u5f53\u7136\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u304c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306b\u3082\u5f71\u97ff\u3092\u4e0e\u3048\u308b\u305f\u3081\uff0c\u5e38\u306b\u5831\u544a\u30fb\u9023\u7d61\u30fb\u76f8\u8ac7\u3092\u5fd8\u308c\u306a\u3044\uff0e","title":"8. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3082\u540c\u6642\u9032\u884c\u3067\u958b\u767a\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u5fd8\u308c\u306a\u3044"},{"location":"6_development_policy/#9","text":"\u4e0a\u3067\u3082\u8ff0\u3079\u305f\u3068\u304a\u308a\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u306f\u4ed6\u4eba\u306e\u958b\u767a\u306b\u5f71\u97ff\u3092\u4e0e\u3048\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u4f55\u304b\u65b0\u3057\u3044\u6a5f\u80fd\u306e\u958b\u767a\u3092\u7d42\u3048\u305f\u3089\uff0c\u305d\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u3069\u3093\u306a\u70b9\u304c\u5909\u66f4\u3055\u308c\u305f\u306e\u304b\u3092\uff0c\u305d\u306e\u4f5c\u696d\u306e\u5f53\u4e8b\u8005\u3067\u306f\u306a\u3044\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u9054\u306b\u3082\u308f\u304b\u308a\u3084\u3059\u304f\u5171\u6709\u3059\u308b\uff0e","title":"9. \u81ea\u5206\u306e\u304a\u3053\u306a\u3063\u305f\u5909\u66f4\u70b9\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u30e1\u30f3\u30d0\u30fc\u306b\u5171\u6709\u3059\u308b"},{"location":"6_development_policy/#10","text":"\u540c\u3058\u7591\u554f\u3092\u4ed6\u306e\u958b\u767a\u30e1\u30f3\u30d0\u30fc\u3082\u62b1\u3044\u3066\u3044\u305f\u308a\uff0c\u3082\u3057\u304f\u306f\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u7d4c\u9a13\u304c\u3042\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e\u307e\u305f\u306f\uff0c\u305d\u306e\u554f\u984c\u3092\u89e3\u6c7a\u3059\u308b\u3088\u3046\u306a\u6a5f\u80fd\u3092\u65b0\u305f\u306b\u5225\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u5b9f\u88c5\u3057\u3066\u304f\u308c\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e","title":"10. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3068\u7591\u554f\u70b9\u30fb\u554f\u984c\u70b9\u3092\u5171\u6709\u3059\u308b"},{"location":"6_development_policy/#11","text":"\u958b\u767a\u4e2d\u306b\u30d0\u30b0\u3092\u898b\u3064\u3051\u305f\u3089\uff0c\u307f\u3093\u306a\u306b\u5171\u6709\u3059\u308b\u3053\u3068\uff0e\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u3068\u601d\u308f\u308c\u3066\u3044\u305f\u30d0\u30b0\u306e\u767a\u898b\u3084\u81f4\u547d\u7684\u306a\u6b20\u9665\u304c\u3042\u308b\u307e\u307e\u958b\u767a\u3092\u9032\u3081\u306a\u3044\u3088\u3046\u306b\uff0c\u3059\u3050\u306b\u82bd\u3092\u3064\u3080\uff0e","title":"11. \u898b\u3064\u3051\u305f\u30d0\u30b0\u3092\u5831\u544a\u3059\u308b"},{"location":"appendix/","text":"5. Folder Tree \u672c\u7ae0\u3067\u306f\uff0cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3068\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u3092\u793a\u3059\uff0e\u306a\u304a\uff0c\u592a\u5b57\u306f\u30d5\u30a9\u30eb\u30c0\u540d\u3092\u8868\u3059\uff0e\u672c\u7ae0\u3092\u8efd\u304f\u4e00\u8aad\u3059\u308b\u3053\u3068\u3067\uff0cClimbLab\u5168\u4f53\u306e\u69cb\u9020\u3092\u628a\u63e1\u3059\u308b\u3053\u3068\u3067\u304d\u308b\uff0e\u307e\u305f\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u306b\u306f\uff0c\u3053\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\u9069\u5207\u306a\u5834\u6240\u306b\u914d\u7f6e\u3059\u308b\u3053\u3068\uff0e ** climblab/ ** config config\u95a2\u6570\u7fa4\u4e00\u5f0f\u3092\u4fdd\u5b58\u3059\u308b\u30d5\u30a9\u30eb\u30c0 default : config\u306edefault\u7528\u95a2\u6570\u7fa4 preset : \u3053\u308c\u307e\u3067\u306e\u958b\u767a\u306b\u4f7f\u308f\u308c\u305fconfiguration\u95a2\u6570\u7fa4 USER : \u5909\u6570\u4e0a\u66f8\u304d\u7528USER config\u95a2\u6570\u3068\u305d\u306e\u30c6\u30f3\u30d7\u30ec\u30fc\u30c8 config_simulation.m : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306econfig\u3092\u8a2d\u5b9a\u3059\u308b\u5927\u5143\u306e\u95a2\u6570 config_all_default_param.m : default\u306e\u306a\u304b\u306econfig\u30d5\u30a1\u30a4\u30eb\u7fa4\u3092\u5b9f\u884c\u3059\u308b\u95a2\u6570 dat : data\u30d5\u30a9\u30eb\u30c0\u30fc\u306e\u610f\uff0e\u5b9f\u884c\u3057\u305f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u30ed\u30b0\u3084\u52d5\u753b\u306e\u4fdd\u5b58\u5148 docs media : \u5bfe\u5916\u7528\u306b\u4f7f\u7528\u3059\u308b\u753b\u50cf\u30fbgif\u306e\u4fdd\u5b58\u5834\u6240 mkdocs : \u672c\u30de\u30cb\u30e5\u30a2\u30eb\u306e\u4fdd\u5b58\u5834\u6240 lib : ClimbLab\u3067\u4f7f\u7528\u3057\u3066\u3044\u308b\u95a2\u6570\u306e\u4e2d\u3067\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u306e\u307f\u306a\u3089\u305a\u4ed6\u306e\u5206\u91ce\u3078\u306e\u6c4e\u7528\u6027\u3082\u9ad8\u3044\u95a2\u6570\u7fa4\u3092\u4fdd\u5b58\u3059\u308b\u5834\u6240 equ_gia : GIA\u5b89\u5b9a\u9818\u57df\u306b\u3064\u3044\u3066\u306e\u8a08\u7b97\u306b\u95a2\u308f\u308b\u95a2\u6570\u4e00\u5f0f spacedyn_v2r0 : SpaceDyn\u306e\u95a2\u6570\u4e00\u5f0f MATLAB Reference : \u5404\u95a2\u6570\u306e\u5f79\u5272\u306b\u3064\u3044\u3066\uff0chtml\u5f62\u5f0f\u3067\u898b\u3084\u3059\u304f\u307e\u3068\u3081\u3089\u308c\u305f\u3082\u306e target_detection : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u306b\u95a2\u308f\u308b\u95a2\u6570\u4e00\u5f0f \u56de\u8ee2\u884c\u5217\u3092\u8a08\u7b97\u3059\u308b\u3060\u3051\u306e\u95a2\u6570\u7fa4 : rot_2xy.m , rot_x.m , rot_y.m, rot_z.m src : \u811a\u578b\u30af\u30e9\u30a4\u30df\u30f3\u30b0\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u7279\u5316\u3057\u3066\u958b\u767a\u3055\u308c\u3066\u304d\u305f\u95a2\u6570\u7fa4\uff0e\u4e0b\u4f4d\u306e\u69cb\u6210\u30d5\u30a9\u30eb\u30c0\u306e\u6570\u304c\u591a\u3044\u306e\u3067\uff0csrc\u4ee5\u4e0b\u306b\u306e\u307f\u9805\u76ee\u3092\u308f\u3051\u3066\uff0c\u6b21\u306b\u6539\u3081\u3066\u8a18\u3059\uff0e climblab/src/ controller : \u30eb\u30fc\u30d7\u5185\u3067\u4f7f\u7528\u3055\u308c\u308b\u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u91cd\u8981\u306a\u95a2\u6570\u306e\u591a\u304f\u304c\u7f6e\u304b\u308c\u3066\u3044\u308b control : \u95a2\u7bc0\u30c8\u30eb\u30af\u3092\u5236\u5fa1\u3059\u308b\u305f\u3081\u306e\u95a2\u6570\u3092\u53ce\u5bb9 equilibrium : \u5b89\u5b9a\u6027\u89e3\u6790\u306b\u95a2\u308f\u308b\u95a2\u6570\u3092\u53ce\u5bb9\uff0e gait : \u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u4e00\u9023\u306e\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e\u5b9f\u884c\u3055\u308c\u308b\u9806\u756a\u306b\u5f93\u3063\u3066\u4e0b\u4f4d\u30d5\u30a9\u30eb\u30c0\u306b\u756a\u53f7\u304c\u632f\u3089\u308c\u3066\u3044\u308b\uff0e\u5404\u30d5\u30a9\u30eb\u30c0\u5185\u306b\uff0c\u5404\u6b69\u5bb9\u8a08\u753b\u30bf\u30a4\u30d7\u306b\u5fdc\u3058\u305f\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u304c\u5165\u3063\u3066\u3044\u308b\uff0e 0_upd_graspable_points_in_reachable_area : \u53ef\u52d5\u7bc4\u56f2\u5185\u306e\u628a\u6301\u5019\u88dc\u70b9\u306e\u4f4d\u7f6e\u53d6\u5f97 1_upd_swing_num : \u904a\u811a\u306e\u9078\u5b9a\u3092\u3059\u308b\u95a2\u6570 2_upd_swing_next_pos : \u6b21\u306e\u904a\u811a\u306e\u63a5\u5730\u70b9(\u628a\u6301\u70b9)\u3092\u6c7a\u5b9a\u3059\u308b\u95a2\u6570 3_upd_base_next_pos : \u30d9\u30fc\u30b9\u306e\u79fb\u52d5\u4f4d\u7f6e\u3092\u6c7a\u5b9a\u3059\u308b\u95a2\u6570 4_upd_kinematic_feasibility : \u6b21\u306e\u904a\u811a\u30fb\u628a\u6301\u70b9\u30fb\u30d9\u30fc\u30b9\u4f4d\u7f6e\u304c\u9006\u904b\u52d5\u5b66\u7684\u306b\u53ef\u80fd\u304b\u5224\u5b9a\u3059\u308b\u95a2\u6570 **5_upd_gait_history : \u6b69\u5bb9\u8a08\u753b\u306e\u7d50\u679c\u3092\u4fdd\u5b58\u3059\u308b\u95a2\u6570 ini_gait.m : \u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u5909\u6570\u306e\u521d\u671f\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\u95a2\u6570 upd_gait_planning.m : \u6b69\u5bb9\u8a08\u753b\u306e\u95a2\u6570\u7fa4\u306e\u304a\u304a\u3082\u3068\u3067\u3042\u308a\uff0c main_sim \u306e\u30eb\u30fc\u30d7\u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u6b69\u5bb9\u8a08\u753b\u30d1\u30e9\u30e1\u30fc\u30bf\u66f4\u65b0\u306e\u95a2\u6570 global path plan : \u5927\u5c40\u7684\u7d4c\u8def\u8a08\u753b\u306b\u95a2\u3059\u308b\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e local_path_plan : \u5c40\u6240\u7684\u7d4c\u8def\u8a08\u753b\u306b\u95a2\u3059\u308b\u95a2\u6570\u3092\u53ce\u5bb9 motion : \u30d9\u30fc\u30b9\u306e\u52d5\u304d\u30fb\u811a\u306e\u8ecc\u9053\u3092\u751f\u6210\u30fb\u5236\u5fa1\u3059\u308b\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e tools : \u9806\u904b\u52d5\u5b66\u306e\u95a2\u6570\u3068\uff0c\u6b69\u5bb9\u306b\u95a2\u308f\u308bmap\u60c5\u5831\u3092\u53d6\u5f97\u3059\u308b\u95a2\u6570\u304c\u53ce\u5bb9 upd_grasp_detach.m : \u30b0\u30ea\u30c3\u30d1\u306e\u6ed1\u843d\u3092\u5224\u5b9a\u3057\u3066\u66f4\u65b0\u3059\u308b\u95a2\u6570 engine : \u30ed\u30dc\u30c3\u30c8\u306b\u304b\u304b\u308b\u5916\u529b\u306e\u8a08\u7b97\u3084\u5916\u90e8\u3068\u306e\u63a5\u89e6\u30e2\u30c7\u30eb\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e environment climbing_holds_map : \u30dc\u30eb\u30c0\u30ea\u30f3\u30b0\u30db\u30fc\u30eb\u30c9\u3092\u7528\u3044\u305f\u5730\u5f62\u60c5\u5831\u306e\u4fdd\u7ba1\u5834\u6240 grid_map : \u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306e\u751f\u6210\u3057\u305f\u5730\u5f62\u60c5\u5831\u306e\u4fdd\u7ba1\u5834\u6240 terrain_map : \u5b9f\u5730\u5f62\u30de\u30c3\u30d7\u306e\u4fdd\u7ba1\u5834\u6240 uneven_map : \u30d5\u30e9\u30af\u30bf\u30eb\u3092\u5229\u7528\u3057\u305f\u4e0d\u6574\u5730\u30de\u30c3\u30d7\u306e\u4fdd\u7ba1\u5834\u6240 map_grid_desingner.m : \u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306e\u30de\u30c3\u30d7\u306e\u751f\u6210\u3092\u3059\u308b\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb \u5730\u5f62\u60c5\u5831\u30fb\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306b\u95a2\u3059\u308binitialize\u95a2\u6570\u7fa4 : ini_environment.m , ini_surface.m , ini_graspable_points.m map_format_conversion.m : RealSense\u30ab\u30e1\u30e9\u3067\u53d6\u5f97\u3057\u3066PCD\u304b\u30893\u00d7N\u884c\u5217\u3068\u3057\u305f\u70b9\u7fa4\u60c5\u5831\u3092\uff0c\u5ea7\u6a19\u5909\u63db\u30fb\u7dda\u5f62\u88dc\u9593\u3057\u3066\u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306b\u5909\u63db\u3059\u308b\u95a2\u6570\uff0e misc : \u672a\u5206\u985e\u306e\u95a2\u6570\u7fa4\uff0e\u30c7\u30fc\u30bf\u4fdd\u5b58\u306b\u95a2\u308f\u308bsave\u95a2\u6570\u306a\u3069\u304c\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e robot : \u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u306e\u5b9a\u7fa9\u3084\u305d\u306e\u521d\u671f\u8a2d\u5b9a\u30fb\u89e3\u6790\u3092\u884c\u3046\u95a2\u6570\u3092\u53ce\u5bb9\uff0e LP_analysis : \u30ed\u30dc\u30c3\u30c8\u306e\u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(LP)\u304b\u3089\u811a\u5148\u53ef\u52d5\u7bc4\u56f2\u3092\u63cf\u753b\u3059\u308b\u95a2\u6570 ini_12DOF_SV.m , ini_nDOF_SV.m : \u8a2d\u5b9a\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u81ea\u7531\u5ea6\u306b\u3082\u3068\u3065\u304d\u72b6\u614b\u5909\u6570(SV)\u3092\u8a2d\u5b9a\u3059\u308b\u95a2\u6570 ini_(Robot\u540d)\u95a2\u6570\u7fa4 : \u5404\u30ed\u30dc\u30c3\u30c8\u306eLP\u3092\u5185\u90e8\u3067\u6307\u5b9a\u3057\u3066\u30e1\u30a4\u30f3\u306b\u8aad\u307f\u8fbc\u3080 ini_joint_angle.m ini_reachable_area.m ini_robot.m sensing : \u30ab\u30e1\u30e9\u3084\u30bb\u30f3\u30b5\u306b\u3082\u3068\u3065\u304f\u30bb\u30f3\u30b7\u30f3\u30b0\u306b\u95a2\u9023\u3059\u308bini_,upd_\u95a2\u6570\u7fa4\u3092\u4e3b\u8981 visualization : \u5168\u3066\u306evisualize\u95a2\u6570\u7fa4\u306e\u4fdd\u5b58\u5834\u6240 ini_path.m : main_sim.m \u306e\u5b9f\u884c\u306e\u305f\u3081\u306b\uff0c\u5b9f\u884c\u3057\u3066\u3044\u308b\u30d5\u30a9\u30eb\u30c0\u306e\u73fe\u5728\u4f4d\u7f6e\u78ba\u8a8d\u3068\uff0c\u30d1\u30b9\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\uff0e `main_sim.m : ClimbLab\u306e\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb \u4ee5\u4e0a\u304cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u306e\u6982\u8981\u3067\u3042\u308b\uff0e","title":"Appendix"},{"location":"appendix/#5-folder-tree","text":"\u672c\u7ae0\u3067\u306f\uff0cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3068\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u3092\u793a\u3059\uff0e\u306a\u304a\uff0c\u592a\u5b57\u306f\u30d5\u30a9\u30eb\u30c0\u540d\u3092\u8868\u3059\uff0e\u672c\u7ae0\u3092\u8efd\u304f\u4e00\u8aad\u3059\u308b\u3053\u3068\u3067\uff0cClimbLab\u5168\u4f53\u306e\u69cb\u9020\u3092\u628a\u63e1\u3059\u308b\u3053\u3068\u3067\u304d\u308b\uff0e\u307e\u305f\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u306b\u306f\uff0c\u3053\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\u9069\u5207\u306a\u5834\u6240\u306b\u914d\u7f6e\u3059\u308b\u3053\u3068\uff0e ** climblab/ ** config config\u95a2\u6570\u7fa4\u4e00\u5f0f\u3092\u4fdd\u5b58\u3059\u308b\u30d5\u30a9\u30eb\u30c0 default : config\u306edefault\u7528\u95a2\u6570\u7fa4 preset : \u3053\u308c\u307e\u3067\u306e\u958b\u767a\u306b\u4f7f\u308f\u308c\u305fconfiguration\u95a2\u6570\u7fa4 USER : \u5909\u6570\u4e0a\u66f8\u304d\u7528USER config\u95a2\u6570\u3068\u305d\u306e\u30c6\u30f3\u30d7\u30ec\u30fc\u30c8 config_simulation.m : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306econfig\u3092\u8a2d\u5b9a\u3059\u308b\u5927\u5143\u306e\u95a2\u6570 config_all_default_param.m : default\u306e\u306a\u304b\u306econfig\u30d5\u30a1\u30a4\u30eb\u7fa4\u3092\u5b9f\u884c\u3059\u308b\u95a2\u6570 dat : data\u30d5\u30a9\u30eb\u30c0\u30fc\u306e\u610f\uff0e\u5b9f\u884c\u3057\u305f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u30ed\u30b0\u3084\u52d5\u753b\u306e\u4fdd\u5b58\u5148 docs media : \u5bfe\u5916\u7528\u306b\u4f7f\u7528\u3059\u308b\u753b\u50cf\u30fbgif\u306e\u4fdd\u5b58\u5834\u6240 mkdocs : \u672c\u30de\u30cb\u30e5\u30a2\u30eb\u306e\u4fdd\u5b58\u5834\u6240 lib : ClimbLab\u3067\u4f7f\u7528\u3057\u3066\u3044\u308b\u95a2\u6570\u306e\u4e2d\u3067\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u306e\u307f\u306a\u3089\u305a\u4ed6\u306e\u5206\u91ce\u3078\u306e\u6c4e\u7528\u6027\u3082\u9ad8\u3044\u95a2\u6570\u7fa4\u3092\u4fdd\u5b58\u3059\u308b\u5834\u6240 equ_gia : GIA\u5b89\u5b9a\u9818\u57df\u306b\u3064\u3044\u3066\u306e\u8a08\u7b97\u306b\u95a2\u308f\u308b\u95a2\u6570\u4e00\u5f0f spacedyn_v2r0 : SpaceDyn\u306e\u95a2\u6570\u4e00\u5f0f MATLAB Reference : \u5404\u95a2\u6570\u306e\u5f79\u5272\u306b\u3064\u3044\u3066\uff0chtml\u5f62\u5f0f\u3067\u898b\u3084\u3059\u304f\u307e\u3068\u3081\u3089\u308c\u305f\u3082\u306e target_detection : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u306b\u95a2\u308f\u308b\u95a2\u6570\u4e00\u5f0f \u56de\u8ee2\u884c\u5217\u3092\u8a08\u7b97\u3059\u308b\u3060\u3051\u306e\u95a2\u6570\u7fa4 : rot_2xy.m , rot_x.m , rot_y.m, rot_z.m src : \u811a\u578b\u30af\u30e9\u30a4\u30df\u30f3\u30b0\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u7279\u5316\u3057\u3066\u958b\u767a\u3055\u308c\u3066\u304d\u305f\u95a2\u6570\u7fa4\uff0e\u4e0b\u4f4d\u306e\u69cb\u6210\u30d5\u30a9\u30eb\u30c0\u306e\u6570\u304c\u591a\u3044\u306e\u3067\uff0csrc\u4ee5\u4e0b\u306b\u306e\u307f\u9805\u76ee\u3092\u308f\u3051\u3066\uff0c\u6b21\u306b\u6539\u3081\u3066\u8a18\u3059\uff0e climblab/src/ controller : \u30eb\u30fc\u30d7\u5185\u3067\u4f7f\u7528\u3055\u308c\u308b\u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u91cd\u8981\u306a\u95a2\u6570\u306e\u591a\u304f\u304c\u7f6e\u304b\u308c\u3066\u3044\u308b control : \u95a2\u7bc0\u30c8\u30eb\u30af\u3092\u5236\u5fa1\u3059\u308b\u305f\u3081\u306e\u95a2\u6570\u3092\u53ce\u5bb9 equilibrium : \u5b89\u5b9a\u6027\u89e3\u6790\u306b\u95a2\u308f\u308b\u95a2\u6570\u3092\u53ce\u5bb9\uff0e gait : \u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u4e00\u9023\u306e\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e\u5b9f\u884c\u3055\u308c\u308b\u9806\u756a\u306b\u5f93\u3063\u3066\u4e0b\u4f4d\u30d5\u30a9\u30eb\u30c0\u306b\u756a\u53f7\u304c\u632f\u3089\u308c\u3066\u3044\u308b\uff0e\u5404\u30d5\u30a9\u30eb\u30c0\u5185\u306b\uff0c\u5404\u6b69\u5bb9\u8a08\u753b\u30bf\u30a4\u30d7\u306b\u5fdc\u3058\u305f\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u304c\u5165\u3063\u3066\u3044\u308b\uff0e 0_upd_graspable_points_in_reachable_area : \u53ef\u52d5\u7bc4\u56f2\u5185\u306e\u628a\u6301\u5019\u88dc\u70b9\u306e\u4f4d\u7f6e\u53d6\u5f97 1_upd_swing_num : \u904a\u811a\u306e\u9078\u5b9a\u3092\u3059\u308b\u95a2\u6570 2_upd_swing_next_pos : \u6b21\u306e\u904a\u811a\u306e\u63a5\u5730\u70b9(\u628a\u6301\u70b9)\u3092\u6c7a\u5b9a\u3059\u308b\u95a2\u6570 3_upd_base_next_pos : \u30d9\u30fc\u30b9\u306e\u79fb\u52d5\u4f4d\u7f6e\u3092\u6c7a\u5b9a\u3059\u308b\u95a2\u6570 4_upd_kinematic_feasibility : \u6b21\u306e\u904a\u811a\u30fb\u628a\u6301\u70b9\u30fb\u30d9\u30fc\u30b9\u4f4d\u7f6e\u304c\u9006\u904b\u52d5\u5b66\u7684\u306b\u53ef\u80fd\u304b\u5224\u5b9a\u3059\u308b\u95a2\u6570 **5_upd_gait_history : \u6b69\u5bb9\u8a08\u753b\u306e\u7d50\u679c\u3092\u4fdd\u5b58\u3059\u308b\u95a2\u6570 ini_gait.m : \u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u5909\u6570\u306e\u521d\u671f\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\u95a2\u6570 upd_gait_planning.m : \u6b69\u5bb9\u8a08\u753b\u306e\u95a2\u6570\u7fa4\u306e\u304a\u304a\u3082\u3068\u3067\u3042\u308a\uff0c main_sim \u306e\u30eb\u30fc\u30d7\u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u6b69\u5bb9\u8a08\u753b\u30d1\u30e9\u30e1\u30fc\u30bf\u66f4\u65b0\u306e\u95a2\u6570 global path plan : \u5927\u5c40\u7684\u7d4c\u8def\u8a08\u753b\u306b\u95a2\u3059\u308b\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e local_path_plan : \u5c40\u6240\u7684\u7d4c\u8def\u8a08\u753b\u306b\u95a2\u3059\u308b\u95a2\u6570\u3092\u53ce\u5bb9 motion : \u30d9\u30fc\u30b9\u306e\u52d5\u304d\u30fb\u811a\u306e\u8ecc\u9053\u3092\u751f\u6210\u30fb\u5236\u5fa1\u3059\u308b\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e tools : \u9806\u904b\u52d5\u5b66\u306e\u95a2\u6570\u3068\uff0c\u6b69\u5bb9\u306b\u95a2\u308f\u308bmap\u60c5\u5831\u3092\u53d6\u5f97\u3059\u308b\u95a2\u6570\u304c\u53ce\u5bb9 upd_grasp_detach.m : \u30b0\u30ea\u30c3\u30d1\u306e\u6ed1\u843d\u3092\u5224\u5b9a\u3057\u3066\u66f4\u65b0\u3059\u308b\u95a2\u6570 engine : \u30ed\u30dc\u30c3\u30c8\u306b\u304b\u304b\u308b\u5916\u529b\u306e\u8a08\u7b97\u3084\u5916\u90e8\u3068\u306e\u63a5\u89e6\u30e2\u30c7\u30eb\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e environment climbing_holds_map : \u30dc\u30eb\u30c0\u30ea\u30f3\u30b0\u30db\u30fc\u30eb\u30c9\u3092\u7528\u3044\u305f\u5730\u5f62\u60c5\u5831\u306e\u4fdd\u7ba1\u5834\u6240 grid_map : \u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306e\u751f\u6210\u3057\u305f\u5730\u5f62\u60c5\u5831\u306e\u4fdd\u7ba1\u5834\u6240 terrain_map : \u5b9f\u5730\u5f62\u30de\u30c3\u30d7\u306e\u4fdd\u7ba1\u5834\u6240 uneven_map : \u30d5\u30e9\u30af\u30bf\u30eb\u3092\u5229\u7528\u3057\u305f\u4e0d\u6574\u5730\u30de\u30c3\u30d7\u306e\u4fdd\u7ba1\u5834\u6240 map_grid_desingner.m : \u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306e\u30de\u30c3\u30d7\u306e\u751f\u6210\u3092\u3059\u308b\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb \u5730\u5f62\u60c5\u5831\u30fb\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306b\u95a2\u3059\u308binitialize\u95a2\u6570\u7fa4 : ini_environment.m , ini_surface.m , ini_graspable_points.m map_format_conversion.m : RealSense\u30ab\u30e1\u30e9\u3067\u53d6\u5f97\u3057\u3066PCD\u304b\u30893\u00d7N\u884c\u5217\u3068\u3057\u305f\u70b9\u7fa4\u60c5\u5831\u3092\uff0c\u5ea7\u6a19\u5909\u63db\u30fb\u7dda\u5f62\u88dc\u9593\u3057\u3066\u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306b\u5909\u63db\u3059\u308b\u95a2\u6570\uff0e misc : \u672a\u5206\u985e\u306e\u95a2\u6570\u7fa4\uff0e\u30c7\u30fc\u30bf\u4fdd\u5b58\u306b\u95a2\u308f\u308bsave\u95a2\u6570\u306a\u3069\u304c\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e robot : \u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u306e\u5b9a\u7fa9\u3084\u305d\u306e\u521d\u671f\u8a2d\u5b9a\u30fb\u89e3\u6790\u3092\u884c\u3046\u95a2\u6570\u3092\u53ce\u5bb9\uff0e LP_analysis : \u30ed\u30dc\u30c3\u30c8\u306e\u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(LP)\u304b\u3089\u811a\u5148\u53ef\u52d5\u7bc4\u56f2\u3092\u63cf\u753b\u3059\u308b\u95a2\u6570 ini_12DOF_SV.m , ini_nDOF_SV.m : \u8a2d\u5b9a\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u81ea\u7531\u5ea6\u306b\u3082\u3068\u3065\u304d\u72b6\u614b\u5909\u6570(SV)\u3092\u8a2d\u5b9a\u3059\u308b\u95a2\u6570 ini_(Robot\u540d)\u95a2\u6570\u7fa4 : \u5404\u30ed\u30dc\u30c3\u30c8\u306eLP\u3092\u5185\u90e8\u3067\u6307\u5b9a\u3057\u3066\u30e1\u30a4\u30f3\u306b\u8aad\u307f\u8fbc\u3080 ini_joint_angle.m ini_reachable_area.m ini_robot.m sensing : \u30ab\u30e1\u30e9\u3084\u30bb\u30f3\u30b5\u306b\u3082\u3068\u3065\u304f\u30bb\u30f3\u30b7\u30f3\u30b0\u306b\u95a2\u9023\u3059\u308bini_,upd_\u95a2\u6570\u7fa4\u3092\u4e3b\u8981 visualization : \u5168\u3066\u306evisualize\u95a2\u6570\u7fa4\u306e\u4fdd\u5b58\u5834\u6240 ini_path.m : main_sim.m \u306e\u5b9f\u884c\u306e\u305f\u3081\u306b\uff0c\u5b9f\u884c\u3057\u3066\u3044\u308b\u30d5\u30a9\u30eb\u30c0\u306e\u73fe\u5728\u4f4d\u7f6e\u78ba\u8a8d\u3068\uff0c\u30d1\u30b9\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\uff0e `main_sim.m : ClimbLab\u306e\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb \u4ee5\u4e0a\u304cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u306e\u6982\u8981\u3067\u3042\u308b\uff0e","title":"5. Folder Tree"},{"location":"basics/","text":".katex img { object-fit: fill; padding: unset; display: block; position: absolute; width: 100%; height: inherit; } Basics for SpaceDyn Equation of motion (EOM) for floating-based system To be added... Generalized Jacobian [2] To be added... Note If you use Genralized Jacobian in an academic context, please put the following citation. [2] Y. Umetani and K. Yoshida, Resolved motion rate control of space manipulators with generalized Jacobian matrix, IEEE Transactions on Robotics and Automation , vol. 5, no. 3, pp. 303--314, 1989. 1 2 3 4 5 6 7 8 9 10 @ARTICLE { generalizedJacobian , author = { Umetani , Y . and Yoshida , K . } , journal = { IEEE Transactions on Robotics and Automation } , title = { Resolved motion rate control of space manipulators with generalized Jacobian matrix } , year = { 1989 } , volume = { 5 } , number = { 3 } , pages = { 303 -- 314 } , doi = { 10.1109 / 70.34766 } } Basic Knowledge for SpaceDyn User We assume the system composed of n+1 bodies and connected by n joints. Let the body 0 be a reference body . Multiple branches can attach on any single body , as far as the system keeps a topological tree configuration. There must be a single joint between two bodies. We call a terminal point or the point of interest such as manipulator hand as endpoint. Each body, except body 0, can have one endpoint at maximum. In this document, the terms body and link are the same. The SpaceDyn allows force/torque input on (i) the centroid of the reference body, (ii) each endpoint, and (iii) each joint. The toolbox computes the position, velocity and acceleration of (1) the centroid of the reference body, (2) the centroid of each body, (3) each endopoint, and (4) each joint. Computation of input force/torque are open to user programming. You can arbitrary decide each joint as either active or passive one. If you give always zero torque, such as \u03c4 0 = 0 \\tau_0 = 0 \u03c4 0 \u200b = 0 , the corresponding joint behaves as a free joint. Or if you give such a torque as: \u03c4 i = \u2212 K q i \u2212 D q \u02d9 i \\tau_i = - K q_i - D \\dot{q}_i \u03c4 i \u200b = \u2212 K q i \u200b \u2212 D q \u02d9 \u200b i \u200b the joint behaves as a passive visco-elastic joint. You can treat even a flexible link, by modeling it as a discrete successive chain of rigid links connected by elastic joints. Of course, you can give any arbitrary control torque determined by your own control law, on all or arbitrary selected joints. We know that the Denavit-Hartenberg (DH) notation is commonly used in the field of manipulator kinematics with the advantage of unique allocation of coordinate systems with minimum parameters, but we know that the DH sometimes locates the coordinate ofitin away from the location of an actual joint. From the dynamics point of view, the angular velocity and the inertia tensor should be defined around the corresponding joint axis or body centroid. We then do NOT use the DH notation but introduce a rule to define the coordinate system with more flexibility. Note We do NOT use the DH notation in SpaceDyn. Our rule locates the origin of the coordinate systems with more flexibility. Our rule locates the origin of the frame on each joint and orients the primary axes so that the inertia tensor should be simpler, but admits three position and three orientation parameters among two successive coordinate systems. For the representation of attitude or orientation, we use 3 by 3 direction cosine matrices. The advantage of direction cosine is (1) singularity free, (2) we can easily defive Roll-Pitch-Yaw angles, Euler angles, or quartanions, and (3) it is easy to find the mathematical relationship with angular velocity. On the other hand, we frequently need Roll-Pitch-Yaw (RPY) replresentation also. For example, in order to express the twisting angles between two coordinate systems, we consider \u03b1 = 0 \\alpha=0 \u03b1 = 0 (roll) around x x x -axis, \u03b2 \\beta \u03b2 (pitch) around y y y -axis, then \u03b3 \\gamma \u03b3 (yaw) around z z z -axis. Weak points: The SpaceDyn is not good at dealing with kinematic constraints other than joint axes. It is also weak at dealing with the problems in which a contact point is dynamically changing. For those problems, a good user programming is required to model the constraint forces.","title":"Basics"},{"location":"basics/#basics-for-spacedyn","text":"","title":"Basics for SpaceDyn"},{"location":"basics/#equation-of-motion-eom-for-floating-based-system","text":"To be added...","title":"Equation of motion (EOM) for floating-based system"},{"location":"basics/#generalized-jacobian-2","text":"To be added... Note If you use Genralized Jacobian in an academic context, please put the following citation. [2] Y. Umetani and K. Yoshida, Resolved motion rate control of space manipulators with generalized Jacobian matrix, IEEE Transactions on Robotics and Automation , vol. 5, no. 3, pp. 303--314, 1989. 1 2 3 4 5 6 7 8 9 10 @ARTICLE { generalizedJacobian , author = { Umetani , Y . and Yoshida , K . } , journal = { IEEE Transactions on Robotics and Automation } , title = { Resolved motion rate control of space manipulators with generalized Jacobian matrix } , year = { 1989 } , volume = { 5 } , number = { 3 } , pages = { 303 -- 314 } , doi = { 10.1109 / 70.34766 } }","title":"Generalized Jacobian [2]"},{"location":"basics/#basic-knowledge-for-spacedyn-user","text":"We assume the system composed of n+1 bodies and connected by n joints. Let the body 0 be a reference body . Multiple branches can attach on any single body , as far as the system keeps a topological tree configuration. There must be a single joint between two bodies. We call a terminal point or the point of interest such as manipulator hand as endpoint. Each body, except body 0, can have one endpoint at maximum. In this document, the terms body and link are the same. The SpaceDyn allows force/torque input on (i) the centroid of the reference body, (ii) each endpoint, and (iii) each joint. The toolbox computes the position, velocity and acceleration of (1) the centroid of the reference body, (2) the centroid of each body, (3) each endopoint, and (4) each joint. Computation of input force/torque are open to user programming. You can arbitrary decide each joint as either active or passive one. If you give always zero torque, such as \u03c4 0 = 0 \\tau_0 = 0 \u03c4 0 \u200b = 0 , the corresponding joint behaves as a free joint. Or if you give such a torque as: \u03c4 i = \u2212 K q i \u2212 D q \u02d9 i \\tau_i = - K q_i - D \\dot{q}_i \u03c4 i \u200b = \u2212 K q i \u200b \u2212 D q \u02d9 \u200b i \u200b the joint behaves as a passive visco-elastic joint. You can treat even a flexible link, by modeling it as a discrete successive chain of rigid links connected by elastic joints. Of course, you can give any arbitrary control torque determined by your own control law, on all or arbitrary selected joints. We know that the Denavit-Hartenberg (DH) notation is commonly used in the field of manipulator kinematics with the advantage of unique allocation of coordinate systems with minimum parameters, but we know that the DH sometimes locates the coordinate ofitin away from the location of an actual joint. From the dynamics point of view, the angular velocity and the inertia tensor should be defined around the corresponding joint axis or body centroid. We then do NOT use the DH notation but introduce a rule to define the coordinate system with more flexibility. Note We do NOT use the DH notation in SpaceDyn. Our rule locates the origin of the coordinate systems with more flexibility. Our rule locates the origin of the frame on each joint and orients the primary axes so that the inertia tensor should be simpler, but admits three position and three orientation parameters among two successive coordinate systems. For the representation of attitude or orientation, we use 3 by 3 direction cosine matrices. The advantage of direction cosine is (1) singularity free, (2) we can easily defive Roll-Pitch-Yaw angles, Euler angles, or quartanions, and (3) it is easy to find the mathematical relationship with angular velocity. On the other hand, we frequently need Roll-Pitch-Yaw (RPY) replresentation also. For example, in order to express the twisting angles between two coordinate systems, we consider \u03b1 = 0 \\alpha=0 \u03b1 = 0 (roll) around x x x -axis, \u03b2 \\beta \u03b2 (pitch) around y y y -axis, then \u03b3 \\gamma \u03b3 (yaw) around z z z -axis. Weak points: The SpaceDyn is not good at dealing with kinematic constraints other than joint axes. It is also weak at dealing with the problems in which a contact point is dynamically changing. For those problems, a good user programming is required to model the constraint forces.","title":"Basic Knowledge for SpaceDyn User"},{"location":"c%2B%2B/","text":"3. Other Main Functions \u524d\u7ae0\u3067 main_sim.m \u3068\u305d\u306e\u5185\u90e8\u3067\u5b9f\u884c\u3055\u308c\u308b5\u3064\u306e\u7a2e\u985e\u306e\u95a2\u6570\u306b\u3064\u3044\u3066\u8ff0\u3079\u305f\uff0e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u884c\u306b\u7528\u3089\u308c\u308bMain\u95a2\u6570\u306f main_sim.m \u305f\u3060\u4e00\u3064\u3067\u3042\u308b\uff0e\u305d\u306e\u4ee3\u308f\u308a\u306b\u4f7f\u7528\u3059\u308b\u30e6\u30fc\u30b6\u30fc\u304c\u305d\u308c\u305e\u308cConfiguration\u95a2\u6570\u3092\u72ec\u81ea\u306b\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3067\u69d8\u3005\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u540c\u6642\u306b\u958b\u767a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\uff0c\u3053\u308c\u304cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3067\u3042\u308b\u6240\u4ee5\u3067\u3042\u308b\uff0e\u3057\u304b\u3057\uff0c main_sim.m \u4ee5\u5916\u306b\u3082\uff0cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u5185\u306b\u306f\u5358\u72ec\u3067\u5b9f\u884c\u3067\u304d\u308b\u95a2\u6570\u304c\u5b58\u5728\u3059\u308b\uff0e\u3053\u308c\u3089\u306e\u95a2\u6570\u306b\u306f\u63a5\u982d\u8f9e\u306b main_ \u304c\u4ed8\u3051\u3089\u308c\u3066\u304a\u308a\uff0c\u4ee5\u4e0b\u306e5\u3064\u306eMain\u95a2\u6570\u304c\u5b58\u5728\u3059\u308b\uff0e main_iterative_sim.m main_LP_2D_analysis.m main_LP_3D_analysis.m main_target_detection.m main_iterative_target_detection.m main_grid_map_designer.m 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/climblab/src/robot/LP_analysis \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e main_target_detection.m \u306f\uff0c\u5730\u5f62\u60c5\u5831\u30c7\u30fc\u30bf\u306b\u5bfe\u3057\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3046\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3067\u3042\u308b\uff0e main_sim.m \u5185\u3067\u3082 target_detection.m \u3092\u5b9f\u884c\u3057\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u3082\u3067\u304d\u308b\u304c\uff0c\u4e88\u3081\u3053\u306eMain\u95a2\u6570\u3092\u7528\u3044\u3066\uff0c main_sim.m 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main_grid_map_designer.m \u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src/environment/grid_map \u4e0b\u306b\u7f6e\u304b\u308c\u305f\u95a2\u6570\u3067\u3042\u308b\uff0e \u4ee5\u4e0a\u304c\uff0cmain_sim.m\u4ee5\u5916\u306b\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066ClimbLab\u306b\u5b58\u5728\u3057\u3066\u3044\u308bMain\u95a2\u6570\u3067\u3042\u308b\uff0e","title":"3. Other Main Functions"},{"location":"index%20%28copy%29/","text":"Welcome to MkDocs For full documentation visit mkdocs.org . Commands mkdocs new [dir-name] - Create a new project. mkdocs serve - Start the live-reloading docs server. mkdocs build - Build the documentation site. mkdocs help - Print this help message. Project layout 1 2 3 4 mkdocs.yml # The configuration file. docs/ index.md # The documentation homepage. ... # Other markdown pages, images and other files. Examples Important Note We installed admonition for the important message such as cautions, note, and remarks. E.g.) Note This is an important message. Tip \u30d2\u30f3\u30c8\u3067\u3059\u3002 Warning \u3053\u308c\u306f\u8b66\u544a\u3067\u3059 Danger \u3053\u308c\u306f\u5371\u967a\u3067\u3059\u3002","title":"Welcome to MkDocs"},{"location":"index%20%28copy%29/#welcome-to-mkdocs","text":"For full documentation visit mkdocs.org .","title":"Welcome to MkDocs"},{"location":"index%20%28copy%29/#commands","text":"mkdocs new [dir-name] - Create a new project. mkdocs serve - Start the live-reloading docs server. mkdocs build - Build the documentation site. mkdocs help - Print this help message.","title":"Commands"},{"location":"index%20%28copy%29/#project-layout","text":"1 2 3 4 mkdocs.yml # The configuration file. docs/ index.md # The documentation homepage. ... # Other markdown pages, images and other files.","title":"Project layout"},{"location":"index%20%28copy%29/#examples","text":"","title":"Examples"},{"location":"index%20%28copy%29/#important-note","text":"We installed admonition for the important message such as cautions, note, and remarks. E.g.) Note This is an important message. Tip \u30d2\u30f3\u30c8\u3067\u3059\u3002 Warning \u3053\u308c\u306f\u8b66\u544a\u3067\u3059 Danger \u3053\u308c\u306f\u5371\u967a\u3067\u3059\u3002","title":"Important Note"},{"location":"matlab/","text":"SpaceDyn as a MATLAB toolbox SpaceDyn was originally created as MATLAB toolbox [1]. We developed this toolbox motivated and inspired by Robotics toolbox developed by Peter I. Corke. We took one m-file ( cross.m ) and use it as the original is, but SpaceDyn as a whole, does not have compatibility with the Peter's Robotics toolbox unfortunately. Note The MATLAB toolbox of Spacedyn requires MATLAB 5.0 or higher. (It uses functions that are not supported in 4.0 or lower.) Usage Just clone the repository, and copy all the MATLAB functions in SpaceDyn/src/matlab to your workspace, and use them to model your robot and calculate its kinematics and dynamics. Each-by-each m-file usage is detailed in the following quick reference shown later. Technical Note For mathematical symbols, we give the name of variables with more than two letters. For example, vector r and c are coded by RR and cc , respectively This is to avoid the confusion with control variables such as i , j , k , or l , m , n , etc, which are frequently used as iteration or array counters. However, there is an exeption: the symbol q is used for the joint variable vector q . Since MATLAB doesn't allo 0 for array index, we use R0 and c0 instead of RR[0] and cc[0] , for example. For the representation of attitude or orientation, we use 3 by 3 direction cosine matrices, coded with a symbol A . For example, A0 is the direction cosines to represent the attitude of the body 0. For the other bodies, a matrix AA is used. For Roll-Pitch-Yaw (RPY) angles, we use the symbol Q . For example, in order to express the twisting angles between two coordinate systems, we consider $ \\alpha $ (roll) around $ x $-axis, $ \\beta $ (pitch) around $ y $-axis, then $ \\gumma $ (yaw) around $ z $-axis. The set of these angles are coded by Qi . We use both the input variables and the global variables to pass the values to m-file functions. The input variables inside the braces are the variables changing time to time, such as joint angles, positions, orientations, and so on. The global variables are the ones holding constant once the model is given, such as topological description matrices, kinematics and dynamic parameters. Quick Reference The interactive quick reference guide written in html is already available in our GitHub directory . Please download the repository spacedyn_reference and open index.html in web browser to get started. Original User Manual The original user manual is also avaliable. The Spacedyn - a MATLAB Toolbox for Space and Mobile Robots We heavily recommend the user to read this manual, which describe the development philosophy and programing rules, to understand the code, deeply.","title":"MATLAB"},{"location":"matlab/#spacedyn-as-a-matlab-toolbox","text":"SpaceDyn was originally created as MATLAB toolbox [1]. We developed this toolbox motivated and inspired by Robotics toolbox developed by Peter I. Corke. We took one m-file ( cross.m ) and use it as the original is, but SpaceDyn as a whole, does not have compatibility with the Peter's Robotics toolbox unfortunately. Note The MATLAB toolbox of Spacedyn requires MATLAB 5.0 or higher. (It uses functions that are not supported in 4.0 or lower.)","title":"SpaceDyn as a MATLAB toolbox"},{"location":"matlab/#usage","text":"Just clone the repository, and copy all the MATLAB functions in SpaceDyn/src/matlab to your workspace, and use them to model your robot and calculate its kinematics and dynamics. Each-by-each m-file usage is detailed in the following quick reference shown later.","title":"Usage"},{"location":"matlab/#technical-note","text":"For mathematical symbols, we give the name of variables with more than two letters. For example, vector r and c are coded by RR and cc , respectively This is to avoid the confusion with control variables such as i , j , k , or l , m , n , etc, which are frequently used as iteration or array counters. However, there is an exeption: the symbol q is used for the joint variable vector q . Since MATLAB doesn't allo 0 for array index, we use R0 and c0 instead of RR[0] and cc[0] , for example. For the representation of attitude or orientation, we use 3 by 3 direction cosine matrices, coded with a symbol A . For example, A0 is the direction cosines to represent the attitude of the body 0. For the other bodies, a matrix AA is used. For Roll-Pitch-Yaw (RPY) angles, we use the symbol Q . For example, in order to express the twisting angles between two coordinate systems, we consider $ \\alpha $ (roll) around $ x $-axis, $ \\beta $ (pitch) around $ y $-axis, then $ \\gumma $ (yaw) around $ z $-axis. The set of these angles are coded by Qi . We use both the input variables and the global variables to pass the values to m-file functions. The input variables inside the braces are the variables changing time to time, such as joint angles, positions, orientations, and so on. The global variables are the ones holding constant once the model is given, such as topological description matrices, kinematics and dynamic parameters.","title":"Technical Note"},{"location":"matlab/#quick-reference","text":"The interactive quick reference guide written in html is already available in our GitHub directory . Please download the repository spacedyn_reference and open index.html in web browser to get started.","title":"Quick Reference"},{"location":"matlab/#original-user-manual","text":"The original user manual is also avaliable. The Spacedyn - a MATLAB Toolbox for Space and Mobile Robots We heavily recommend the user to read this manual, which describe the development philosophy and programing rules, to understand the code, deeply.","title":"Original User Manual"},{"location":"ros/","text":"4. How to Execute Simulation ClimbLab\u306fMATLAB\u3067\u8a18\u8ff0\u3055\u308c\u3066\u304a\u308a\uff0c\u5b9f\u884c\u306b\u306fMATALB\u3092\u4f7f\u7528\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u52d5\u4f5c\u78ba\u8a8d\u304c\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308bMATLAB\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306f\uff0c\u672c\u8ad6\u6587\u57f7\u7b46\u6642(2022\u5e742\u67081\u65e5)\u306b\u304a\u3044\u3066\uff0cMATLAB R2019b\u3067\u3042\u308b\uff0e\u3088\u3063\u3066\uff0c\u5b9f\u884c\u306b\u306fR2019b\u4ee5\u964d\u306eMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u304c\u5fc5\u8981\u3067\u3042\u308b\uff0e\u307e\u305f\uff0cMATLAB Toolbox\u306b\u3064\u3044\u3066\u306f\uff0c\u57fa\u672c\u7684\u306b\u5fc5\u8981\u3068\u3057\u306a\u3044\u304c\uff0c\u3054\u304f\u4e00\u90e8\u306e\u6a5f\u80fd\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306eToolbox\uff1a Optimization Toolbox Robotics Toolbox Signal Processing Toolbox Reinforcement Learning Toolbox Deep Learning Toolbox \u304c\u4f7f\u7528\u3055\u308c\u308b\u305f\u3081\uff0c\u5fc5\u8981\u306a\u5834\u5408\u306f\u9069\u5b9c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e 4.1 How to execute main_sim.m main_sim.m \u3092\u5b9f\u884c\u3057\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u624b\u9806\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u306a\u304a\uff0c\u5148\u306b\u8ff0\u3079\u305fMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u3092\u524d\u63d0\u3068\u3059\u308b\uff0e \u307e\u305a\u57fa\u672c\u8a2d\u5b9a\u3067\u3042\u308b\"default\"\u3067\u5b9f\u884c\u3059\u308b\u5834\u5408\u306f\uff0c GitHub\u3084BitBucket\u304b\u3089ClimbLab\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3059\u308b\uff0e MATLAB\u3092\u958b\u304f\uff0e \u30d5\u30a9\u30eb\u30c0/climblab/src\u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b main_sim.m \u3092\u958b\u304f\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u304c\"default\"\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e MATLAB\u5185\u306e\u300c\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u300d\u3092 /climblab \u306b\u3059\u308b\uff0e main\\_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u5b9f\u884c\u5f8c\uff0c\u300cmain_sim.m\u306f\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u30fc\u3084MATLAB\u30d1\u30b9\u4e0a\u3067\u898b\u3064\u304b\u308a\u307e\u305b\u3093\uff0e\u300d\u3068\u3044\u3046\u30a8\u30e9\u30fc\u304c\u51fa\u305f\u5834\u5408\u306f\uff0c\u300c\u30d1\u30b9\u306b\u8ffd\u52a0\u300d\u3092\u9078\u629e\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u306b\u3088\u3063\u3066\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u59cb\u3055\u308c\u308b\uff0e \u307e\u305f\u3053\u306e\"default\"\u304b\u3089\u81ea\u5206\u7528\u306b\u65b0\u305f\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u8a66\u3059\u5834\u5408\u306b\u306f\uff0c \u30d5\u30a9\u30eb\u30c0 /climblab/config/USER \u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b config\\_USER\\_param\\_template.m \u3092\u30b3\u30d4\u30fc\u3057\uff0c\u540c\u3058\u30d5\u30a9\u30eb\u30c0\u306b\uff0c config_USER_param.m \u3068\u540d\u524d\u3092\u5909\u3048\u3066\u4f5c\u6210\u3059\u308b\uff0e config_USER_param.m \u5185\u306b\uff0cdefault\u304b\u3089\u5909\u66f4\u3057\u305f\u3044\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u66f8\u304d\u52a0\u3048\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"default\"\u304b\u3089\"USER\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u3067\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u5909\u66f4\u3067\u304d\u308b\u8a2d\u5b9a\u306f\uff0c\u30d5\u30a9\u30eb\u30c0 config/default \u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u5404class\u306e\u521d\u671f\u8a2d\u5b9a\u7528\u306e\u95a2\u6570\u306e\u4e2d\u8eab\u3092\u898b\u308b\u3053\u3068\u3067\u78ba\u8a8d\u3067\u304d\u308b\uff0e \u307e\u305f\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u9032\u3081\u308b\u4e2d\u3067\uff0c\u8a2d\u5b9a\u3092\u534a\u6c38\u7d9a\u7684\u306b\u4fdd\u5b58\u3057\u3066\u304a\u304d\u305f\u3044config\u30d5\u30a1\u30a4\u30eb\u304c\u3042\u308b\u5834\u5408\u306f\uff0cpreset\u3068\u3057\u3066\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u81ea\u5206\u304c\u958b\u767a\u3057\u305f\u308f\u3051\u3067\u306f\u306a\u3044\u65e2\u5b58\u306epreset\u306b\u3064\u3044\u3066\u306f\u57fa\u672c\u7684\u306b\u7de8\u96c6\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u3053\u308c\u3089\u306epreset\u306b\u306f\u8ad6\u6587\u306a\u3069\u3067\u5bfe\u5916\u7684\u306b\u793a\u3057\u305f\u7d50\u679c\u3092\u4fdd\u5b58\u3057\u3066\u304a\u304f\u3079\u304d\u3082\u306e\u3082\u3042\u308b\u306e\u3067\uff0c\u7de8\u96c6\u3059\u308b\u969b\u306f\u958b\u767a\u8005\u3084\u30c1\u30fc\u30e0\u3068\u8a71\u3057\u5408\u3046\u5fc5\u8981\u304c\u3042\u308b\uff0epreset\u306e\u4f5c\u6210\u624b\u9806\u3092\u4ee5\u4e0b\u306b\u793a\u3059\uff0e config/preset \u4e0b\u306b\uff0c config_xxx_param.m \u3068\u3044\u3046\u81ea\u5206\u306econfig\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u308b\uff0e xxx \u306f\u4efb\u610f\u3060\u304c\uff0c config_ \u3067\u59cb\u307e\u308a\uff0c _param \u3067\u7d42\u308f\u308b\u3088\u3046\u306b\u547d\u540d\u3059\u308b\uff0e config_xxx_param.m \u306e\u5185\u90e8\u306b\u81ea\u5206\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a2d\u5b9a\u3059\u308b\uff0e main_sim\u5185\u3067 `config = \u2018xxx\u2019; \u3068\u8a2d\u5b9a\u3059\u308b\uff0e config_simulation\u5185\u3067\u4e00\u756a\u4e0b\u306b\uff0c if strcmp(config, \u2018xxx\u2019) [... ] = config_xxx_param(....); end \u3068\u65b0\u3057\u304f\u8a18\u8ff0\u3057\u3066\uff0c\u4f5c\u6210\u3057\u305fconfig\u30d5\u30a1\u30a4\u30eb\u3092load\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"xxx\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim \u3092 /climblab \u4e0b\u3067\u5b9f\u884c\u3059\u308b\uff0e","title":"ROS"},{"location":"ros/#4-how-to-execute-simulation","text":"ClimbLab\u306fMATLAB\u3067\u8a18\u8ff0\u3055\u308c\u3066\u304a\u308a\uff0c\u5b9f\u884c\u306b\u306fMATALB\u3092\u4f7f\u7528\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u52d5\u4f5c\u78ba\u8a8d\u304c\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308bMATLAB\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306f\uff0c\u672c\u8ad6\u6587\u57f7\u7b46\u6642(2022\u5e742\u67081\u65e5)\u306b\u304a\u3044\u3066\uff0cMATLAB R2019b\u3067\u3042\u308b\uff0e\u3088\u3063\u3066\uff0c\u5b9f\u884c\u306b\u306fR2019b\u4ee5\u964d\u306eMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u304c\u5fc5\u8981\u3067\u3042\u308b\uff0e\u307e\u305f\uff0cMATLAB Toolbox\u306b\u3064\u3044\u3066\u306f\uff0c\u57fa\u672c\u7684\u306b\u5fc5\u8981\u3068\u3057\u306a\u3044\u304c\uff0c\u3054\u304f\u4e00\u90e8\u306e\u6a5f\u80fd\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306eToolbox\uff1a Optimization Toolbox Robotics Toolbox Signal Processing Toolbox Reinforcement Learning Toolbox Deep Learning Toolbox \u304c\u4f7f\u7528\u3055\u308c\u308b\u305f\u3081\uff0c\u5fc5\u8981\u306a\u5834\u5408\u306f\u9069\u5b9c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e","title":"4. How to Execute Simulation"},{"location":"ros/#41-how-to-execute-main_simm","text":"main_sim.m \u3092\u5b9f\u884c\u3057\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u624b\u9806\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u306a\u304a\uff0c\u5148\u306b\u8ff0\u3079\u305fMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u3092\u524d\u63d0\u3068\u3059\u308b\uff0e \u307e\u305a\u57fa\u672c\u8a2d\u5b9a\u3067\u3042\u308b\"default\"\u3067\u5b9f\u884c\u3059\u308b\u5834\u5408\u306f\uff0c GitHub\u3084BitBucket\u304b\u3089ClimbLab\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3059\u308b\uff0e MATLAB\u3092\u958b\u304f\uff0e \u30d5\u30a9\u30eb\u30c0/climblab/src\u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b main_sim.m \u3092\u958b\u304f\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u304c\"default\"\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e MATLAB\u5185\u306e\u300c\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u300d\u3092 /climblab \u306b\u3059\u308b\uff0e main\\_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u5b9f\u884c\u5f8c\uff0c\u300cmain_sim.m\u306f\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u30fc\u3084MATLAB\u30d1\u30b9\u4e0a\u3067\u898b\u3064\u304b\u308a\u307e\u305b\u3093\uff0e\u300d\u3068\u3044\u3046\u30a8\u30e9\u30fc\u304c\u51fa\u305f\u5834\u5408\u306f\uff0c\u300c\u30d1\u30b9\u306b\u8ffd\u52a0\u300d\u3092\u9078\u629e\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u306b\u3088\u3063\u3066\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u59cb\u3055\u308c\u308b\uff0e \u307e\u305f\u3053\u306e\"default\"\u304b\u3089\u81ea\u5206\u7528\u306b\u65b0\u305f\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u8a66\u3059\u5834\u5408\u306b\u306f\uff0c \u30d5\u30a9\u30eb\u30c0 /climblab/config/USER \u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b config\\_USER\\_param\\_template.m \u3092\u30b3\u30d4\u30fc\u3057\uff0c\u540c\u3058\u30d5\u30a9\u30eb\u30c0\u306b\uff0c config_USER_param.m \u3068\u540d\u524d\u3092\u5909\u3048\u3066\u4f5c\u6210\u3059\u308b\uff0e config_USER_param.m \u5185\u306b\uff0cdefault\u304b\u3089\u5909\u66f4\u3057\u305f\u3044\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u66f8\u304d\u52a0\u3048\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"default\"\u304b\u3089\"USER\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u3067\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u5909\u66f4\u3067\u304d\u308b\u8a2d\u5b9a\u306f\uff0c\u30d5\u30a9\u30eb\u30c0 config/default \u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u5404class\u306e\u521d\u671f\u8a2d\u5b9a\u7528\u306e\u95a2\u6570\u306e\u4e2d\u8eab\u3092\u898b\u308b\u3053\u3068\u3067\u78ba\u8a8d\u3067\u304d\u308b\uff0e \u307e\u305f\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u9032\u3081\u308b\u4e2d\u3067\uff0c\u8a2d\u5b9a\u3092\u534a\u6c38\u7d9a\u7684\u306b\u4fdd\u5b58\u3057\u3066\u304a\u304d\u305f\u3044config\u30d5\u30a1\u30a4\u30eb\u304c\u3042\u308b\u5834\u5408\u306f\uff0cpreset\u3068\u3057\u3066\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u81ea\u5206\u304c\u958b\u767a\u3057\u305f\u308f\u3051\u3067\u306f\u306a\u3044\u65e2\u5b58\u306epreset\u306b\u3064\u3044\u3066\u306f\u57fa\u672c\u7684\u306b\u7de8\u96c6\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u3053\u308c\u3089\u306epreset\u306b\u306f\u8ad6\u6587\u306a\u3069\u3067\u5bfe\u5916\u7684\u306b\u793a\u3057\u305f\u7d50\u679c\u3092\u4fdd\u5b58\u3057\u3066\u304a\u304f\u3079\u304d\u3082\u306e\u3082\u3042\u308b\u306e\u3067\uff0c\u7de8\u96c6\u3059\u308b\u969b\u306f\u958b\u767a\u8005\u3084\u30c1\u30fc\u30e0\u3068\u8a71\u3057\u5408\u3046\u5fc5\u8981\u304c\u3042\u308b\uff0epreset\u306e\u4f5c\u6210\u624b\u9806\u3092\u4ee5\u4e0b\u306b\u793a\u3059\uff0e config/preset \u4e0b\u306b\uff0c config_xxx_param.m \u3068\u3044\u3046\u81ea\u5206\u306econfig\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u308b\uff0e xxx \u306f\u4efb\u610f\u3060\u304c\uff0c config_ \u3067\u59cb\u307e\u308a\uff0c _param \u3067\u7d42\u308f\u308b\u3088\u3046\u306b\u547d\u540d\u3059\u308b\uff0e config_xxx_param.m \u306e\u5185\u90e8\u306b\u81ea\u5206\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a2d\u5b9a\u3059\u308b\uff0e main_sim\u5185\u3067 `config = \u2018xxx\u2019; \u3068\u8a2d\u5b9a\u3059\u308b\uff0e config_simulation\u5185\u3067\u4e00\u756a\u4e0b\u306b\uff0c if strcmp(config, \u2018xxx\u2019) [... ] = config_xxx_param(....); end \u3068\u65b0\u3057\u304f\u8a18\u8ff0\u3057\u3066\uff0c\u4f5c\u6210\u3057\u305fconfig\u30d5\u30a1\u30a4\u30eb\u3092load\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"xxx\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim \u3092 /climblab \u4e0b\u3067\u5b9f\u884c\u3059\u308b\uff0e","title":"4.1 How to execute main_sim.m"},{"location":"top/","text":"SpaceDyn User Manual Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital@grp.tohoku.ac.jp The climbing simulator is being developed by the Climbing Robotics Team in Space Robotics Laboratory at Tohoku University, Japan. The source code is released under a BSD 3-Clause license . This developpers manual is originally written in Google Document and maintained in SRL-Limb's shared drive . Reference Note If you use this simulator in an academic context, please put the following citation. Uno K. et al. (2022) ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics. In: Chugo D., Tokhi M.O., Silva M.F., Nakamura T., Goher K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_20 1 2 3 4 5 6 7 8 @inproceedings { uno2021climblab , title = { ClimbLab : MATLAB Simulation Platform for Legged Climbing Robotics } , author = { Kentaro Uno and Warley F . R . Ribeiro and Yusuke Koizumi and Keigo Haji and Koki Kurihara and William Jones and Kazuya Yoshida } , booktitle = { Robotics for Sustainable Future } , pages = { 229 -- 241 } , year = { 2022 } , publisher = \"Springer International Publishing\" , } Release note The version of this manual is synchronized with the version of ClimbLab simulator. Since this online manual is deployed since the v4.0, the oldest version is v4.0. v4.0: released on 2021. First released version.","title":"Top"},{"location":"top/#spacedyn-user-manual","text":"Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital@grp.tohoku.ac.jp The climbing simulator is being developed by the Climbing Robotics Team in Space Robotics Laboratory at Tohoku University, Japan. The source code is released under a BSD 3-Clause license . This developpers manual is originally written in Google Document and maintained in SRL-Limb's shared drive .","title":"SpaceDyn User Manual"},{"location":"top/#reference","text":"Note If you use this simulator in an academic context, please put the following citation. Uno K. et al. (2022) ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics. In: Chugo D., Tokhi M.O., Silva M.F., Nakamura T., Goher K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_20 1 2 3 4 5 6 7 8 @inproceedings { uno2021climblab , title = { ClimbLab : MATLAB Simulation Platform for Legged Climbing Robotics } , author = { Kentaro Uno and Warley F . R . Ribeiro and Yusuke Koizumi and Keigo Haji and Koki Kurihara and William Jones and Kazuya Yoshida } , booktitle = { Robotics for Sustainable Future } , pages = { 229 -- 241 } , year = { 2022 } , publisher = \"Springer International Publishing\" , }","title":"Reference"},{"location":"top/#release-note","text":"The version of this manual is synchronized with the version of ClimbLab simulator. Since this online manual is deployed since the v4.0, the oldest version is v4.0. v4.0: released on 2021. First released version.","title":"Release note"}]} \ No newline at end of file +{"config":{"indexing":"full","lang":["en"],"min_search_length":3,"prebuild_index":false,"separator":"[\\s\\-]+"},"docs":[{"location":"","text":"SpaceDyn Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital(at)grp.tohoku.ac.jp Overview The SpaceDyn is a MATLAB/C++ library for the kinematic and dynamic analysis and simulation of articulated multi-body systems with a moving base. Examples of such systems are a satellite with mechanical appendages, a free-flying space robot, a wheeled mobile robot, and a walking robot, all of which makes motions in the environment with or without gravity. This toolbox can handle open chain systems with topological tree configuration. A parallel manipulator, for example, then cannot be supported directly. A walking robot contacting on the ground with more than two legs or limbs at a time seems to form a closed chain including the ground, however, we can handle such a system with a proper model of ground contact at each contact point. Parallel manipulators can be treated with virtual cut of a kinematic chain and a corresponding virtual force model. Some academic papers regarding this toolbox is published by Kazuya Yoshida and his co-author(s) [1]. For the technical points of this software, please consult those publications as well as the following chapters of this online user manual. We hope that you could find this toolbox useful for your application. Notice Now, the Spacedyn is Version 2, Release 0. The Spacedyn is a free software. You can download and use it freely for your academic purpose. Any of commercial use is kindly refused. There is no warranty for any damages caused by this software. If you intend to modify and re-distribute the Spacedyn, please consult us. The MATLAB toolbox of Spacedyn requires MATLAB 5.0 or higher. ( It uses functions that are not supported in 4.0 or lower.) Reference Note If you use this simulator in an academic context, please put the following citation. [1] K.Yoshida, The SpaceDyn: a MATLAB toolbox for space and mobile robots, Proc. IEEE/RSJ IROS , pp. 1633--1638. 1 2 3 4 5 6 7 8 9 @ inproceedings { spacedyn , title = { The SpaceDyn : a MATLAB toolbox for space and mobile robots }, author = { Kazuya Yoshida }, booktitle = { Proceedings 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems }, volume = { 3 }, pages = { 1633 -- 1638 }, year = { 1999 }, doi = { 10.1109 / IROS . 1999.811712 }, } This paper is available in IEEE Xplorer . Release Note Oct. 7th, 1999, SpcaeDyn version 1 release 0 was released in the original webpage . Sep. 17th, 2020, SpaceDyn version 2 release 0 was released in GitHub. Oct. 16th, 2020, SpaceDyn C++ was released in GitHub. May. 31th, 2024, SpaceDyn version 2 release 1 was released in GitHub. Debug integral of base orientation (fixed f_dyn_rk2 and dc2qtn , added qtn2dc and w2dQtn ) FAQ Please read this document for details, and FAQ Page . For bug reports or any questions, please contact us via e-mail : 1 spacedyn_support(at)astro.mech.tohoku.ac.jp or 1 srl-orbital(at)grp.tohoku.ac.jp Acknowledgement SpaceDyn is originally developed and released by alumini of SRL listed in the original dcument . C++ version is developed by Dr. Satoko Abiko and Dr. Yoichiro Sato.","title":"Top"},{"location":"#spacedyn","text":"Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital(at)grp.tohoku.ac.jp","title":"SpaceDyn"},{"location":"#overview","text":"The SpaceDyn is a MATLAB/C++ library for the kinematic and dynamic analysis and simulation of articulated multi-body systems with a moving base. Examples of such systems are a satellite with mechanical appendages, a free-flying space robot, a wheeled mobile robot, and a walking robot, all of which makes motions in the environment with or without gravity. This toolbox can handle open chain systems with topological tree configuration. A parallel manipulator, for example, then cannot be supported directly. A walking robot contacting on the ground with more than two legs or limbs at a time seems to form a closed chain including the ground, however, we can handle such a system with a proper model of ground contact at each contact point. Parallel manipulators can be treated with virtual cut of a kinematic chain and a corresponding virtual force model. Some academic papers regarding this toolbox is published by Kazuya Yoshida and his co-author(s) [1]. For the technical points of this software, please consult those publications as well as the following chapters of this online user manual. We hope that you could find this toolbox useful for your application.","title":"Overview"},{"location":"#notice","text":"Now, the Spacedyn is Version 2, Release 0. The Spacedyn is a free software. You can download and use it freely for your academic purpose. Any of commercial use is kindly refused. There is no warranty for any damages caused by this software. If you intend to modify and re-distribute the Spacedyn, please consult us. The MATLAB toolbox of Spacedyn requires MATLAB 5.0 or higher. ( It uses functions that are not supported in 4.0 or lower.)","title":"Notice"},{"location":"#reference","text":"Note If you use this simulator in an academic context, please put the following citation. [1] K.Yoshida, The SpaceDyn: a MATLAB toolbox for space and mobile robots, Proc. IEEE/RSJ IROS , pp. 1633--1638. 1 2 3 4 5 6 7 8 9 @ inproceedings { spacedyn , title = { The SpaceDyn : a MATLAB toolbox for space and mobile robots }, author = { Kazuya Yoshida }, booktitle = { Proceedings 1999 IEEE / RSJ International Conference on Intelligent Robots and Systems }, volume = { 3 }, pages = { 1633 -- 1638 }, year = { 1999 }, doi = { 10.1109 / IROS . 1999.811712 }, } This paper is available in IEEE Xplorer .","title":"Reference"},{"location":"#release-note","text":"Oct. 7th, 1999, SpcaeDyn version 1 release 0 was released in the original webpage . Sep. 17th, 2020, SpaceDyn version 2 release 0 was released in GitHub. Oct. 16th, 2020, SpaceDyn C++ was released in GitHub. May. 31th, 2024, SpaceDyn version 2 release 1 was released in GitHub. Debug integral of base orientation (fixed f_dyn_rk2 and dc2qtn , added qtn2dc and w2dQtn )","title":"Release Note"},{"location":"#faq","text":"Please read this document for details, and FAQ Page . For bug reports or any questions, please contact us via e-mail : 1 spacedyn_support(at)astro.mech.tohoku.ac.jp or 1 srl-orbital(at)grp.tohoku.ac.jp","title":"FAQ"},{"location":"#acknowledgement","text":"SpaceDyn is originally developed and released by alumini of SRL listed in the original dcument . C++ version is developed by Dr. Satoko Abiko and Dr. Yoichiro Sato.","title":"Acknowledgement"},{"location":"6_development_policy/","text":"6. Development Policy \u672c\u7ae0\u3067\u306fClimbLab\u3092\u4f7f\u3063\u3066\u958b\u767a\u3092\u304a\u3053\u306a\u3046\u5834\u5408\u306e\u6ce8\u610f\u70b9\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e \u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u308a\u6a5f\u80fd\u3092\u8ffd\u52a0\u3059\u308b\u5834\u5408\u306f\uff0c\u6b21\u306e\u53d6\u308a\u6c7a\u3081\u3092\u5b88\u3063\u3066\u304a\u3053\u306a\u3046\uff0e\u57fa\u672c\u7684\u306a\u30b3\u30f3\u30bb\u30d7\u30c8\u3068\u3057\u3066\uff0c\u30b7\u30f3\u30d7\u30eb\uff0c\u304b\u3064\u4eca\u5f8c\u3082\u958b\u767a\u3092\u7d9a\u3051\u3084\u3059\u3044\u3088\u3046\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u30d5\u30a9\u30fc\u30de\u30c3\u30c8\u3092\u5b88\u308a\uff0c\u304b\u3064\u8ab0\u304c\u8aad\u3093\u3067\u3082\u8aad\u307f\u3084\u3059\u304f\u7406\u89e3\u3057\u3084\u3059\u3044\u3088\u3046\u306b\u66f8\u304f\u3053\u3068\u3092\u5fc3\u304c\u3051\u308b\uff0e \u3000\u3053\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u7406\u5ff5\u3092\u5b88\u308b\u3053\u3068\u306f\u975e\u5e38\u306b\u91cd\u8981\u3067\u3042\u308a\uff0c\u305d\u306e\u305f\u3081\u306b\u91cd\u8981\u306a\u3053\u3068\u3068\u3057\u3066\uff0c\u65e2\u5b58\u306e main_sim \u4ee5\u5916\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7528Main\u95a2\u6570\u306f\u4f5c\u6210\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u305f\u308b\u6240\u4ee5\u306f\uff0c\u300c1\u3064\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3067\u591a\u69d8\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u53ef\u80fd\u3067\u3042\u308b\u300d\u3053\u3068\u306b\u3042\u308b\u305f\u3081\uff0c\u305d\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3092\u5897\u3084\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u305d\u306e\u305f\u3081\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u6a5f\u80fd\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u3082\uff0c\u65e2\u5b58\u306e main_sim \u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u5fc5\u305a\u5b9f\u88c5\u3059\u308b\uff0e \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u691c\u8a3c\u3057\u306a\u304c\u3089\u5b9f\u88c5\u3059\u308b\u969b\uff0c\u6b21\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\u3068\u958b\u767a\u304c\u30b9\u30e0\u30fc\u30ba\u306b\u9032\u3080\u305f\u3081\uff0c\u5fc5\u8981\u3067\u306f\u306a\u3044\u8a2d\u5b9a\u306foff\u306b\u3059\u308b\u3068\u3088\u3044\uff0e * dynamics\u304c\u5fc5\u8981\u3067\u306a\u3044\u5834\u5408\u306f\uff0cdynamics\u3092off\u306b\u3059\u308b * \u6b69\u884c\u3059\u308b\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0cgait type\u3092\u2019do_nothing\u2019\u306b\u3059\u308b * \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u4f55\u79d2\u3082\u56de\u3059\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6700\u5927\u6642\u9593\u30920\u79d2\u306b\u3059\u308b\uff0e \u307e\u305f\uff0c\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u308b\u5834\u5408\u306e\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u306b\u3064\u3044\u3066\u306f\uff0c4\u7ae0\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\uff0c\u5171\u901a\u3057\u305f\u5f79\u5272\u3067\u304f\u304f\u3089\u308c\u308b\u9069\u5207\u306a\u30d5\u30a9\u30eb\u30c0\u306b\u7f6e\u304f\uff0e \u305d\u306e\u6642\u306e\uff0c\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\uff0e \u30b9\u30cd\u30fc\u30af\u30b1\u30fc\u30b9\u3092\u7528\u3044\u308b \u2715 updGiaCalculation.m \u3007 upd_gia_calulation.m \u95a2\u6570\u540d\u306b\u5927\u6587\u5b57\u306f\u4f7f\u308f\u306a\u3044 \u2715 upd_GIA_calculation.m \u3007 upd_gia_calculation.m \u95a2\u6570\u306e\u63a5\u982d\u8f9e\u3092\uff0c\u6b21\u306e\u65e2\u5b58\u306e\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u306e\u3063\u3068\u3063\u3066\u63a1\u7528\u3059\u308b config_: 2.4\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e ini_: 2.5\u7bc0\u53c2\u7167\uff0e\u30ed\u30dc\u30c3\u30c8\u3084\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306e\u521d\u671f\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570 upd_: 2.6\u7bc0\u53c2\u7167\uff0e\u30eb\u30fc\u30d7\u5185\u3067\uff0c\u6b69\u5bb9\u3084\u5236\u5fa1\u30fb\u529b\u5b66\u306b\u95a2\u308f\u308b\u95a2\u6570 vis_: 2.7\u7bc0\u53c2\u7167\uff0e\u56f3\u306e\u63cf\u753b\u306b\u95a2\u308f\u308b\u95a2\u6570 sav_: 2.8\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5c65\u6b74\u306e\u4fdd\u5b58\u306b\u95a2\u308f\u308b\u95a2\u6570 main_ : 3\u7ae0\u53c2\u7167\uff0e\u5358\u4f53\u3067\u5b9f\u884c\u3057\u3066climblab\u306e\u958b\u767a\u306b\u6709\u7528\u306a\u95a2\u6570\u306b\u4ed8\u3051\u308b \u95a2\u6570\u306e\u540d\u524d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u69cb\u308f\u306a\u3044\u306e\u3067\uff0c\u305d\u306e\u95a2\u6570\u304c\u3069\u3046\u3044\u3046\u6a5f\u80fd\u3092\u6709\u3057\u3066\u3044\u308b\u306e\u304b\u5206\u304b\u308b\u3088\u3046\u306b\u66f8\u304f\uff0e \u4e0a\u8a18\u306e\u30eb\u30fc\u30eb\u306b\u306e\u3063\u3068\u3063\u3066\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u5f8c\u306e\uff0c\u5177\u4f53\u7684\u306a\u30b3\u30fc\u30c9\u306e\u8a18\u8ff0\u30eb\u30fc\u30eb\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u4ee5\u964d\u306e\u5185\u5bb9\u306f\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u5b9f\u88c5\u306e\u969b\u306b\u3082\u5171\u901a\u3059\u308b\u6ce8\u610f\u4e8b\u9805\u3067\u3042\u308b\uff0e 1. \u65b0\u3057\u3044\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306e\u5192\u982d\u306b\u305d\u306e\u95a2\u6570\u306e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u660e\u78ba\u306b\u8a18\u8f09\u3059\u308b\uff0e \u3053\u306e\u5192\u982d\u306e\u8a18\u8ff0\u3092\u8aad\u3080\u3060\u3051\u3067\uff0c\u305d\u306e\u95a2\u6570\u306e\u304a\u304a\u307e\u304b\u306a\u6a5f\u80fd\u304c\u628a\u63e1\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e \u8a18\u8ff0\u3059\u308b\u9805\u76ee\u306f\uff0c \u95a2\u6570\u306e\u304f\u304f\u308a(configuration/update/visualize/save/main) \u95a2\u6570\u540d \u95a2\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u4f5c\u6210\u65e5\u6642 \u4f5c\u6210\u8005 \u6700\u7d42\u7de8\u96c6\u65e5\u6642 \u6700\u7d42\u7de8\u96c6\u8005 \u95a2\u6570\u306e\u8a73\u7d30\u306a\u8aac\u660e \u51fa\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u5165\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u3067\u3042\u308b\uff0e\u4ee5\u4e0b\u306b\u8a18\u8ff0\u4f8b\u3092\u793a\u3059\uff0e 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 %%%%%% Configuration %%%%%% config_save_settings %%%%%% %%%%%% Configure default saving settings %%%%%% %%%%%% Created 2020 - 07 - 08 %%%%%% Warley Ribeiro %%%%%% Last update : 2021 - 03 - 31 %%%%%% Keigo Haji % % % Load default configurations for saving % % Function variables : % % OUTPUT % save_settings : Data saving settings ( struct ) % INPUT % - 2. \u3080\u3084\u307f\u306bmain_sim\u5185\u306b\u65b0\u305f\u306a\u95a2\u6570\u306e\u8a18\u8ff0\u3092\u5897\u3084\u3055\u305a\uff0cmain_sim\u5185\u3067\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\u65e2\u5b58\u306e\u95a2\u6570\u5185\u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\uff0e \u3053\u308c\u306f\uff0cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u6a5f\u80fd\u3057\u3066\u3044\u304f\u305f\u3081\u306bmain_sim\u306e\u4e00\u822c\u6027\u3092\u62c5\u4fdd\u3059\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u307e\u305f\uff0c\u540c\u6642\u306bmain_sim\u3092\u8907\u6570\u4eba\u304c\u7de8\u96c6\u3059\u308b\u3068Git\u306emerge\u306e\u969b\u306bconflict\u304c\u767a\u751f\u3057\u3084\u3059\u304f\u306a\u308b\u306e\u3067\uff0c\u305d\u306e\u554f\u984c\u3092\u907f\u3051\u308b\u3068\u3044\u3046\u76ee\u7684\u3082\u3042\u308b\uff0e \u60aa\u3044\u4f8b\uff09main_sim\u5185\u306b\u76f4\u63a5\u5b9f\u88c5 1 2 3 4 5 6 7 8 9 10 MAIN_FILE . m ... disp ( time ); if gait_param . type = \u2018 new_gait \u2019 new_gait ( ... ) else path_planning_param = upd_path_planning ( ... ); end [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... \u826f\u3044\u4f8b\uff09main_sim\u306f\u305d\u306e\u307e\u307e\u306b\uff0cupd\u95a2\u6570\u5185\u3067\u5834\u5408\u5206\u3051\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MAIN_FILE . m ... disp ( time ); path_planning_param = upd_path_planning ( ... ); [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... FUNCTION_FILE . m function path_planning_param = upd_path_planning ( ... ) switch gait_param . type case \u2018 new_gait \u2019 new_gait ( ... ); case \u2018 old_gait \u2019 ... 3. \u5909\u6570\u306f\u306a\u308b\u3079\u304fclass\u306b\u53ce\u5bb9\u3059\u308b \u5927\u91cf\u306e\u30ed\u30fc\u30ab\u30eb\u5909\u6570\u3092\u95a2\u6570\u5185\u3067\u306a\u308b\u3079\u304f\u6271\u308f\u306a\u3044\u3088\u3046\u306b\u3059\u308b\uff0e\u3053\u308c\u306fMATLAB\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u3067\u306e\u5909\u6570\u306e\u628a\u63e1\u304c\u96e3\u3057\u304f\u306a\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u5909\u6570\u306e\"\u304f\u304f\u308a\"\u3092\u8003\u3048\u3066\uff0c\u65e2\u5b58\u306eclass\u306b\u3042\u3066\u306f\u307e\u308b\u5834\u5408\u306f\u65e2\u5b58\u306eclass( gait_planning_param , motion_planning_param \u7b49)\u306b\u53ce\u5bb9\u3057\uff0c\u306a\u3044\u5834\u5408\u306f\u81ea\u5206\u306e\u6a5f\u80fd\u306b\u3042\u3063\u305f\u65b0\u305f\u306aclass\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\uff0e \u60aa\u3044\u4f8b\uff09local\u5909\u6570\u304c\u591a\u3044\uff0e 1 2 3 4 5 6 7 8 ... leg1_des_pos = \u2026 leg2_des_pos = \u2026 leg3_des_pos = \u2026 leg4_des_pos = \u2026 base_des_pos = ... generate_trajectory ( leg1_des_pos , leg2_des_pos , leg3_des_pos , leg4_des_pos , base_des_pos ); ... \u3044\u3044\u4f8b\uff09\u5909\u6570\u304cclass\u306b\u5206\u985e\u3055\u308c\u3066\u3044\u308b 1 2 3 4 5 ... path_planning_param . leg_des_pos = \u2026 path_planning_param . base_des_pos = \u2026 generate_trajectory ( path_planning_param ); ... 4. \u5909\u6570\u540d\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u3064\u3051\u308b \u5909\u6570\u540d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u3044\u3044\u306e\u3067\uff0c\u8ab0\u306b\u3067\u3082\u308f\u304b\u308b\u3088\u3046\u306b\u4ed8\u3051\u308b\uff0e\u5909\u6570\u540d\u306e\u4ed8\u3051\u65b9\u306f\u95a2\u6570\u3068\u540c\u3058\u304f\uff0csnake_case\u3067\u7d71\u4e00\u3057\uff0ccamelCase\u306f\u4f7f\u308f\u306a\u3044\uff0e\u307e\u305f\uff0c\u305d\u306e\u5909\u6570\u304c\u3069\u3046\u3044\u3046\u5024\u3092\u53ce\u5bb9\u3057\uff0c\u305d\u306e\u5358\u4f4d(\u6b21\u5143)\u306f\u306a\u3093\u306a\u306e\u304b\u3092\u30b3\u30e1\u30f3\u30c8\u3067\u660e\u8a18\u3059\u308b\uff0e \u60aa\u3044\u4f8b\uff09\u4eba\u304c\u8aad\u3093\u3067\u3082\u4f55\u306e\u7565\u79f0\u304b\u308f\u304b\u3089\u306a\u3044 1 2 3 4 5 ... L1 = \u2026 WP . T = \u2026 GPM = ... ... \u3044\u3044\u4f8b\uff09\u30b3\u30e1\u30f3\u30c8\u3084\u5909\u6570\u540d\u304b\u3089\u4f55\u306e\u5024\u304c\u3069\u3046\u3044\u3046\u5358\u4f4d\u6b21\u5143\u3067\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u304b\u5206\u304b\u308b 1 2 3 4 5 6 7 8 \u2026 % Desired position of a leg [m] motion_planning_param . des_leg_pos = \u2026 % Period for crawl gait [s] gait_parameter . T = \u2026 % Grippable points [m] surface_param . grippable_points = ... ... 5. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u5fc5\u305a\u7e70\u308a\u8fd4\u3057\u30c6\u30b9\u30c8\u3092\u304a\u3053\u306a\u3046 \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u5f8c\u306f\uff0c\u30d1\u30e9\u30e1\u30fc\u30bf\u3084\u8a2d\u5b9a\u3092\u5909\u3048\u3066\u30c6\u30b9\u30c8\u3092\u7e70\u308a\u8fd4\u3057\uff0c\u30d0\u30b0\u304c\u767a\u751f\u3057\u306a\u3044\u3053\u3068\u3092\u78ba\u304b\u3081\u3066\u304b\u3089\u4e0a\u7d1a\u751f\u306bReview\u3092\u304a\u9858\u3044\u3059\u308b\uff0e 6. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u65e2\u5b58\u306epreset\u3067\u3082\u5b9f\u884c\u3057\uff0c\u554f\u984c\u304c\u306a\u3044\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b \u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3053\u3068\u3067\uff0c\u3053\u308c\u307e\u306epreset\u304c\u56de\u3089\u306a\u304f\u306a\u3063\u305f\u308a\uff0c\u4ed6\u306e\u958b\u767a\u8005\u306e\u958b\u767a\u74b0\u5883\u3068\u5e72\u6e09\u3059\u308b\u6050\u308c\u304c\u3042\u308b\u305f\u3081\uff0cconfig\u8a2d\u5b9a\u3092\u65e2\u5b58\u306epreset\u306b\u3057\u3066\u5168\u3066\u306epreset\u3092\u5b9f\u884c\u3057\uff0c\u554f\u984c\u306a\u304f\u5b9f\u884c\u3055\u308c\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e 7. \u95a2\u6570\u3092\u6d88\u3055\u306a\u3044 \u3069\u3093\u306a\u95a2\u6570\u3067\u3042\u308c\uff0c\u3080\u3084\u307f\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65b0\u305f\u306a\u6a5f\u80fd\u306b\u3088\u3063\u3066\uff0c\u6b69\u884c\u304c\u5b89\u5b9a\u3057\u305f\u308a\u901f\u304f\u306a\u3063\u305f\u308a\u3059\u308b\u3088\u3046\u306a\u4f55\u304b\u7d50\u679c\u304c\u3088\u304f\u306a\u308b\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3068\u3057\u3066\u3082\uff0c\u524d\u307e\u3067\u3042\u3063\u305f\u95a2\u6570\u306f\u7d76\u5bfe\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65e2\u5b58\u306e\u95a2\u6570\u306f\uff0c\u3053\u308c\u307e\u3067\u306e\u8ca1\u7523\u3067\u3042\u308a\uff0c\u78ba\u5b9f\u306b\u3053\u308c\u307e\u3067\u7a3c\u52d5\u3057\u3066\u3044\u305f\u3068\u3044\u3046\u70b9\u3067\u975e\u5e38\u306b\u6709\u7528\u306a\u3082\u306e\u3067\u3042\u308b\uff0e\u624b\u6cd5\u306e\u6bd4\u8f03\u3092\u304a\u3053\u306a\u3046\u969b\u3084\uff0c\u307e\u305f\u30b7\u30f3\u30d7\u30eb\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u65b9\u304c\u7406\u89e3\u3057\u3084\u3059\u3044\u3068\u3044\u3046\u70b9\u3067\u597d\u307e\u308c\uff0c\u5fc5\u8981\u3068\u3055\u308c\u308b\u5834\u5408\u3082\u3042\u308b\uff0e\u305d\u308c\u307e\u3067\u306e\u95a2\u6570\u3092\u524a\u9664\u30fb\u66f4\u65b0\u3059\u308b\u306e\u3067\u306f\u306a\u304f\uff0c\u65b0\u305f\u306a\u6a5f\u80fd\u30fb\u30b1\u30fc\u30b9\u3092\u8ffd\u52a0\u3059\u308b\u3068\u3044\u3046\u70b9\u3092\u610f\u8b58\u3057\uff0c\u65e2\u5b58\u306e\u95a2\u6570\u30fb\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u4e21\u65b9\u304c\u6271\u3048\u308b\u3088\u3046\u306b\u958b\u767a\u3092\u9032\u3081\u308b\uff0e 8. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3082\u540c\u6642\u9032\u884c\u3067\u958b\u767a\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u5fd8\u308c\u306a\u3044 ClimbLab\u306f\u5e38\u306b\u8907\u6570\u540d\u304c\u540c\u6642\u306b\u958b\u767a\u3092\u3059\u3059\u3081\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u3057\u3066\u3044\u308b\u9593\u306b\uff0c\u8ab0\u304b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u958b\u767a\u3092\u7d42\u308f\u3089\u305b\u3066\u65b0\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\u3053\u3068\u304c\u3088\u304f\u767a\u751f\u3059\u308b\uff0e\u3053\u306e\u969b\uff0cdevelop\u30d6\u30e9\u30f3\u30c1\u306erebase\u3092\u5e38\u306b\u304a\u3053\u306a\u3046\u3053\u3068\uff0e\u81ea\u5206\u304c\u958b\u767a\u6bb5\u968e\u3067\u63a1\u7528\u3057\u3066\u3044\u305f\u95a2\u6570\u304c\uff0c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u4e00\u90e8\u5909\u66f4\u3055\u308c\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\uff0c\u5e38\u306b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u958b\u767a\u72b6\u6cc1\u306b\u3064\u3044\u3066\u628a\u63e1\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u5f53\u7136\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u304c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306b\u3082\u5f71\u97ff\u3092\u4e0e\u3048\u308b\u305f\u3081\uff0c\u5e38\u306b\u5831\u544a\u30fb\u9023\u7d61\u30fb\u76f8\u8ac7\u3092\u5fd8\u308c\u306a\u3044\uff0e 9. \u81ea\u5206\u306e\u304a\u3053\u306a\u3063\u305f\u5909\u66f4\u70b9\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u30e1\u30f3\u30d0\u30fc\u306b\u5171\u6709\u3059\u308b \u4e0a\u3067\u3082\u8ff0\u3079\u305f\u3068\u304a\u308a\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u306f\u4ed6\u4eba\u306e\u958b\u767a\u306b\u5f71\u97ff\u3092\u4e0e\u3048\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u4f55\u304b\u65b0\u3057\u3044\u6a5f\u80fd\u306e\u958b\u767a\u3092\u7d42\u3048\u305f\u3089\uff0c\u305d\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u3069\u3093\u306a\u70b9\u304c\u5909\u66f4\u3055\u308c\u305f\u306e\u304b\u3092\uff0c\u305d\u306e\u4f5c\u696d\u306e\u5f53\u4e8b\u8005\u3067\u306f\u306a\u3044\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u9054\u306b\u3082\u308f\u304b\u308a\u3084\u3059\u304f\u5171\u6709\u3059\u308b\uff0e 10. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3068\u7591\u554f\u70b9\u30fb\u554f\u984c\u70b9\u3092\u5171\u6709\u3059\u308b \u540c\u3058\u7591\u554f\u3092\u4ed6\u306e\u958b\u767a\u30e1\u30f3\u30d0\u30fc\u3082\u62b1\u3044\u3066\u3044\u305f\u308a\uff0c\u3082\u3057\u304f\u306f\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u7d4c\u9a13\u304c\u3042\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e\u307e\u305f\u306f\uff0c\u305d\u306e\u554f\u984c\u3092\u89e3\u6c7a\u3059\u308b\u3088\u3046\u306a\u6a5f\u80fd\u3092\u65b0\u305f\u306b\u5225\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u5b9f\u88c5\u3057\u3066\u304f\u308c\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e 11. \u898b\u3064\u3051\u305f\u30d0\u30b0\u3092\u5831\u544a\u3059\u308b \u958b\u767a\u4e2d\u306b\u30d0\u30b0\u3092\u898b\u3064\u3051\u305f\u3089\uff0c\u307f\u3093\u306a\u306b\u5171\u6709\u3059\u308b\u3053\u3068\uff0e\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u3068\u601d\u308f\u308c\u3066\u3044\u305f\u30d0\u30b0\u306e\u767a\u898b\u3084\u81f4\u547d\u7684\u306a\u6b20\u9665\u304c\u3042\u308b\u307e\u307e\u958b\u767a\u3092\u9032\u3081\u306a\u3044\u3088\u3046\u306b\uff0c\u3059\u3050\u306b\u82bd\u3092\u3064\u3080\uff0e","title":"6 development policy"},{"location":"6_development_policy/#6-development-policy","text":"\u672c\u7ae0\u3067\u306fClimbLab\u3092\u4f7f\u3063\u3066\u958b\u767a\u3092\u304a\u3053\u306a\u3046\u5834\u5408\u306e\u6ce8\u610f\u70b9\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e 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\u3000\u3053\u306e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u306e\u7406\u5ff5\u3092\u5b88\u308b\u3053\u3068\u306f\u975e\u5e38\u306b\u91cd\u8981\u3067\u3042\u308a\uff0c\u305d\u306e\u305f\u3081\u306b\u91cd\u8981\u306a\u3053\u3068\u3068\u3057\u3066\uff0c\u65e2\u5b58\u306e main_sim \u4ee5\u5916\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u7528Main\u95a2\u6570\u306f\u4f5c\u6210\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u305f\u308b\u6240\u4ee5\u306f\uff0c\u300c1\u3064\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3067\u591a\u69d8\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u53ef\u80fd\u3067\u3042\u308b\u300d\u3053\u3068\u306b\u3042\u308b\u305f\u3081\uff0c\u305d\u306e\u30d5\u30ec\u30fc\u30e0\u30ef\u30fc\u30af\u3092\u5897\u3084\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u305d\u306e\u305f\u3081\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u6a5f\u80fd\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u3082\uff0c\u65e2\u5b58\u306e main_sim \u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u5fc5\u305a\u5b9f\u88c5\u3059\u308b\uff0e \u65b0\u3057\u3044\u6a5f\u80fd\u3092\u691c\u8a3c\u3057\u306a\u304c\u3089\u5b9f\u88c5\u3059\u308b\u969b\uff0c\u6b21\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\u3068\u958b\u767a\u304c\u30b9\u30e0\u30fc\u30ba\u306b\u9032\u3080\u305f\u3081\uff0c\u5fc5\u8981\u3067\u306f\u306a\u3044\u8a2d\u5b9a\u306foff\u306b\u3059\u308b\u3068\u3088\u3044\uff0e * dynamics\u304c\u5fc5\u8981\u3067\u306a\u3044\u5834\u5408\u306f\uff0cdynamics\u3092off\u306b\u3059\u308b * \u6b69\u884c\u3059\u308b\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0cgait type\u3092\u2019do_nothing\u2019\u306b\u3059\u308b * \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u4f55\u79d2\u3082\u56de\u3059\u5fc5\u8981\u304c\u306a\u3044\u5834\u5408\uff0c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u6700\u5927\u6642\u9593\u30920\u79d2\u306b\u3059\u308b\uff0e \u307e\u305f\uff0c\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u308b\u5834\u5408\u306e\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u306b\u3064\u3044\u3066\u306f\uff0c4\u7ae0\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\uff0c\u5171\u901a\u3057\u305f\u5f79\u5272\u3067\u304f\u304f\u3089\u308c\u308b\u9069\u5207\u306a\u30d5\u30a9\u30eb\u30c0\u306b\u7f6e\u304f\uff0e \u305d\u306e\u6642\u306e\uff0c\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306e\u70b9\u306b\u6ce8\u610f\u3059\u308b\uff0e \u30b9\u30cd\u30fc\u30af\u30b1\u30fc\u30b9\u3092\u7528\u3044\u308b \u2715 updGiaCalculation.m \u3007 upd_gia_calulation.m \u95a2\u6570\u540d\u306b\u5927\u6587\u5b57\u306f\u4f7f\u308f\u306a\u3044 \u2715 upd_GIA_calculation.m \u3007 upd_gia_calculation.m \u95a2\u6570\u306e\u63a5\u982d\u8f9e\u3092\uff0c\u6b21\u306e\u65e2\u5b58\u306e\u95a2\u6570\u306e\u547d\u540d\u65b9\u6cd5\u306b\u306e\u3063\u3068\u3063\u3066\u63a1\u7528\u3059\u308b config_: 2.4\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e ini_: 2.5\u7bc0\u53c2\u7167\uff0e\u30ed\u30dc\u30c3\u30c8\u3084\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306e\u521d\u671f\u8a2d\u5b9a\u306b\u95a2\u308f\u308b\u95a2\u6570 upd_: 2.6\u7bc0\u53c2\u7167\uff0e\u30eb\u30fc\u30d7\u5185\u3067\uff0c\u6b69\u5bb9\u3084\u5236\u5fa1\u30fb\u529b\u5b66\u306b\u95a2\u308f\u308b\u95a2\u6570 vis_: 2.7\u7bc0\u53c2\u7167\uff0e\u56f3\u306e\u63cf\u753b\u306b\u95a2\u308f\u308b\u95a2\u6570 sav_: 2.8\u7bc0\u53c2\u7167\uff0e\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u5c65\u6b74\u306e\u4fdd\u5b58\u306b\u95a2\u308f\u308b\u95a2\u6570 main_ : 3\u7ae0\u53c2\u7167\uff0e\u5358\u4f53\u3067\u5b9f\u884c\u3057\u3066climblab\u306e\u958b\u767a\u306b\u6709\u7528\u306a\u95a2\u6570\u306b\u4ed8\u3051\u308b \u95a2\u6570\u306e\u540d\u524d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u69cb\u308f\u306a\u3044\u306e\u3067\uff0c\u305d\u306e\u95a2\u6570\u304c\u3069\u3046\u3044\u3046\u6a5f\u80fd\u3092\u6709\u3057\u3066\u3044\u308b\u306e\u304b\u5206\u304b\u308b\u3088\u3046\u306b\u66f8\u304f\uff0e \u4e0a\u8a18\u306e\u30eb\u30fc\u30eb\u306b\u306e\u3063\u3068\u3063\u3066\u65b0\u3057\u304f\u95a2\u6570\u3092\u4f5c\u6210\u3057\u305f\u5f8c\u306e\uff0c\u5177\u4f53\u7684\u306a\u30b3\u30fc\u30c9\u306e\u8a18\u8ff0\u30eb\u30fc\u30eb\u306b\u3064\u3044\u3066\u8aac\u660e\u3059\u308b\uff0e\u4ee5\u964d\u306e\u5185\u5bb9\u306f\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u5b9f\u88c5\u306e\u969b\u306b\u3082\u5171\u901a\u3059\u308b\u6ce8\u610f\u4e8b\u9805\u3067\u3042\u308b\uff0e","title":"6. Development Policy"},{"location":"6_development_policy/#1","text":"\u3053\u306e\u5192\u982d\u306e\u8a18\u8ff0\u3092\u8aad\u3080\u3060\u3051\u3067\uff0c\u305d\u306e\u95a2\u6570\u306e\u304a\u304a\u307e\u304b\u306a\u6a5f\u80fd\u304c\u628a\u63e1\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e \u8a18\u8ff0\u3059\u308b\u9805\u76ee\u306f\uff0c \u95a2\u6570\u306e\u304f\u304f\u308a(configuration/update/visualize/save/main) \u95a2\u6570\u540d \u95a2\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u4f5c\u6210\u65e5\u6642 \u4f5c\u6210\u8005 \u6700\u7d42\u7de8\u96c6\u65e5\u6642 \u6700\u7d42\u7de8\u96c6\u8005 \u95a2\u6570\u306e\u8a73\u7d30\u306a\u8aac\u660e \u51fa\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u5165\u529b\u5909\u6570\u306e\u4e00\u89a7\u3068\uff0c\u5404\u5909\u6570\u306e\u7c21\u5358\u306a\u8aac\u660e \u3067\u3042\u308b\uff0e\u4ee5\u4e0b\u306b\u8a18\u8ff0\u4f8b\u3092\u793a\u3059\uff0e 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 %%%%%% Configuration %%%%%% config_save_settings %%%%%% %%%%%% Configure default saving settings %%%%%% %%%%%% Created 2020 - 07 - 08 %%%%%% Warley Ribeiro %%%%%% Last update : 2021 - 03 - 31 %%%%%% Keigo Haji % % % Load default configurations for saving % % Function variables : % % OUTPUT % save_settings : Data saving settings ( struct ) % INPUT % -","title":"1. \u65b0\u3057\u3044\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u306e\u5192\u982d\u306b\u305d\u306e\u95a2\u6570\u306e\u4ed5\u69d8\u306b\u3064\u3044\u3066\u660e\u78ba\u306b\u8a18\u8f09\u3059\u308b\uff0e"},{"location":"6_development_policy/#2-main_simmain_sim","text":"\u3053\u308c\u306f\uff0cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3068\u3057\u3066\u6a5f\u80fd\u3057\u3066\u3044\u304f\u305f\u3081\u306bmain_sim\u306e\u4e00\u822c\u6027\u3092\u62c5\u4fdd\u3059\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u307e\u305f\uff0c\u540c\u6642\u306bmain_sim\u3092\u8907\u6570\u4eba\u304c\u7de8\u96c6\u3059\u308b\u3068Git\u306emerge\u306e\u969b\u306bconflict\u304c\u767a\u751f\u3057\u3084\u3059\u304f\u306a\u308b\u306e\u3067\uff0c\u305d\u306e\u554f\u984c\u3092\u907f\u3051\u308b\u3068\u3044\u3046\u76ee\u7684\u3082\u3042\u308b\uff0e \u60aa\u3044\u4f8b\uff09main_sim\u5185\u306b\u76f4\u63a5\u5b9f\u88c5 1 2 3 4 5 6 7 8 9 10 MAIN_FILE . m ... disp ( time ); if gait_param . type = \u2018 new_gait \u2019 new_gait ( ... ) else path_planning_param = upd_path_planning ( ... ); end [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... \u826f\u3044\u4f8b\uff09main_sim\u306f\u305d\u306e\u307e\u307e\u306b\uff0cupd\u95a2\u6570\u5185\u3067\u5834\u5408\u5206\u3051\u3092\u304a\u3053\u306a\u3063\u3066\u3044\u308b 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 MAIN_FILE . m ... disp ( time ); path_planning_param = upd_path_planning ( ... ); [ motion_planning_param , des_SV ] = upd_motion_planning ( ... ); ... FUNCTION_FILE . m function path_planning_param = upd_path_planning ( ... ) switch gait_param . type case \u2018 new_gait \u2019 new_gait ( ... ); case \u2018 old_gait \u2019 ...","title":"2. \u3080\u3084\u307f\u306bmain_sim\u5185\u306b\u65b0\u305f\u306a\u95a2\u6570\u306e\u8a18\u8ff0\u3092\u5897\u3084\u3055\u305a\uff0cmain_sim\u5185\u3067\u5b9f\u884c\u3055\u308c\u3066\u3044\u308b\u65e2\u5b58\u306e\u95a2\u6570\u5185\u306b\u7d44\u307f\u8fbc\u3080\u5f62\u3067\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\uff0e"},{"location":"6_development_policy/#3-class","text":"\u5927\u91cf\u306e\u30ed\u30fc\u30ab\u30eb\u5909\u6570\u3092\u95a2\u6570\u5185\u3067\u306a\u308b\u3079\u304f\u6271\u308f\u306a\u3044\u3088\u3046\u306b\u3059\u308b\uff0e\u3053\u308c\u306fMATLAB\u30ef\u30fc\u30af\u30b9\u30da\u30fc\u30b9\u5185\u3067\u306e\u5909\u6570\u306e\u628a\u63e1\u304c\u96e3\u3057\u304f\u306a\u308b\u305f\u3081\u3067\u3042\u308b\uff0e\u5909\u6570\u306e\"\u304f\u304f\u308a\"\u3092\u8003\u3048\u3066\uff0c\u65e2\u5b58\u306eclass\u306b\u3042\u3066\u306f\u307e\u308b\u5834\u5408\u306f\u65e2\u5b58\u306eclass( gait_planning_param , motion_planning_param \u7b49)\u306b\u53ce\u5bb9\u3057\uff0c\u306a\u3044\u5834\u5408\u306f\u81ea\u5206\u306e\u6a5f\u80fd\u306b\u3042\u3063\u305f\u65b0\u305f\u306aclass\u3092\u4f5c\u6210\u3059\u308b\u3053\u3068\uff0e \u60aa\u3044\u4f8b\uff09local\u5909\u6570\u304c\u591a\u3044\uff0e 1 2 3 4 5 6 7 8 ... leg1_des_pos = \u2026 leg2_des_pos = \u2026 leg3_des_pos = \u2026 leg4_des_pos = \u2026 base_des_pos = ... generate_trajectory ( leg1_des_pos , leg2_des_pos , leg3_des_pos , leg4_des_pos , base_des_pos ); ... \u3044\u3044\u4f8b\uff09\u5909\u6570\u304cclass\u306b\u5206\u985e\u3055\u308c\u3066\u3044\u308b 1 2 3 4 5 ... path_planning_param . leg_des_pos = \u2026 path_planning_param . base_des_pos = \u2026 generate_trajectory ( path_planning_param ); ...","title":"3. \u5909\u6570\u306f\u306a\u308b\u3079\u304fclass\u306b\u53ce\u5bb9\u3059\u308b"},{"location":"6_development_policy/#4","text":"\u5909\u6570\u540d\u306f\u3069\u3093\u306a\u306b\u9577\u304f\u306a\u3063\u3066\u3082\u3044\u3044\u306e\u3067\uff0c\u8ab0\u306b\u3067\u3082\u308f\u304b\u308b\u3088\u3046\u306b\u4ed8\u3051\u308b\uff0e\u5909\u6570\u540d\u306e\u4ed8\u3051\u65b9\u306f\u95a2\u6570\u3068\u540c\u3058\u304f\uff0csnake_case\u3067\u7d71\u4e00\u3057\uff0ccamelCase\u306f\u4f7f\u308f\u306a\u3044\uff0e\u307e\u305f\uff0c\u305d\u306e\u5909\u6570\u304c\u3069\u3046\u3044\u3046\u5024\u3092\u53ce\u5bb9\u3057\uff0c\u305d\u306e\u5358\u4f4d(\u6b21\u5143)\u306f\u306a\u3093\u306a\u306e\u304b\u3092\u30b3\u30e1\u30f3\u30c8\u3067\u660e\u8a18\u3059\u308b\uff0e \u60aa\u3044\u4f8b\uff09\u4eba\u304c\u8aad\u3093\u3067\u3082\u4f55\u306e\u7565\u79f0\u304b\u308f\u304b\u3089\u306a\u3044 1 2 3 4 5 ... L1 = \u2026 WP . T = \u2026 GPM = ... ... \u3044\u3044\u4f8b\uff09\u30b3\u30e1\u30f3\u30c8\u3084\u5909\u6570\u540d\u304b\u3089\u4f55\u306e\u5024\u304c\u3069\u3046\u3044\u3046\u5358\u4f4d\u6b21\u5143\u3067\u53ce\u5bb9\u3055\u308c\u3066\u3044\u308b\u304b\u5206\u304b\u308b 1 2 3 4 5 6 7 8 \u2026 % Desired position of a leg [m] motion_planning_param . des_leg_pos = \u2026 % Period for crawl gait [s] gait_parameter . T = \u2026 % Grippable points [m] surface_param . grippable_points = ... ...","title":"4. \u5909\u6570\u540d\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u3064\u3051\u308b"},{"location":"6_development_policy/#5","text":"\u65b0\u3057\u3044\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u5f8c\u306f\uff0c\u30d1\u30e9\u30e1\u30fc\u30bf\u3084\u8a2d\u5b9a\u3092\u5909\u3048\u3066\u30c6\u30b9\u30c8\u3092\u7e70\u308a\u8fd4\u3057\uff0c\u30d0\u30b0\u304c\u767a\u751f\u3057\u306a\u3044\u3053\u3068\u3092\u78ba\u304b\u3081\u3066\u304b\u3089\u4e0a\u7d1a\u751f\u306bReview\u3092\u304a\u9858\u3044\u3059\u308b\uff0e","title":"5. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u5fc5\u305a\u7e70\u308a\u8fd4\u3057\u30c6\u30b9\u30c8\u3092\u304a\u3053\u306a\u3046"},{"location":"6_development_policy/#6-preset","text":"\u65b0\u305f\u306a\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3053\u3068\u3067\uff0c\u3053\u308c\u307e\u306epreset\u304c\u56de\u3089\u306a\u304f\u306a\u3063\u305f\u308a\uff0c\u4ed6\u306e\u958b\u767a\u8005\u306e\u958b\u767a\u74b0\u5883\u3068\u5e72\u6e09\u3059\u308b\u6050\u308c\u304c\u3042\u308b\u305f\u3081\uff0cconfig\u8a2d\u5b9a\u3092\u65e2\u5b58\u306epreset\u306b\u3057\u3066\u5168\u3066\u306epreset\u3092\u5b9f\u884c\u3057\uff0c\u554f\u984c\u306a\u304f\u5b9f\u884c\u3055\u308c\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e","title":"6. \u65b0\u3057\u3044\u6a5f\u80fd\u306e\u5b9f\u88c5\u5f8c\u306f\uff0c\u65e2\u5b58\u306epreset\u3067\u3082\u5b9f\u884c\u3057\uff0c\u554f\u984c\u304c\u306a\u3044\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b"},{"location":"6_development_policy/#7","text":"\u3069\u3093\u306a\u95a2\u6570\u3067\u3042\u308c\uff0c\u3080\u3084\u307f\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65b0\u305f\u306a\u6a5f\u80fd\u306b\u3088\u3063\u3066\uff0c\u6b69\u884c\u304c\u5b89\u5b9a\u3057\u305f\u308a\u901f\u304f\u306a\u3063\u305f\u308a\u3059\u308b\u3088\u3046\u306a\u4f55\u304b\u7d50\u679c\u304c\u3088\u304f\u306a\u308b\u6a5f\u80fd\u3092\u5b9f\u88c5\u3057\u305f\u3068\u3057\u3066\u3082\uff0c\u524d\u307e\u3067\u3042\u3063\u305f\u95a2\u6570\u306f\u7d76\u5bfe\u306b\u524a\u9664\u3057\u306a\u3044\uff0e\u65e2\u5b58\u306e\u95a2\u6570\u306f\uff0c\u3053\u308c\u307e\u3067\u306e\u8ca1\u7523\u3067\u3042\u308a\uff0c\u78ba\u5b9f\u306b\u3053\u308c\u307e\u3067\u7a3c\u52d5\u3057\u3066\u3044\u305f\u3068\u3044\u3046\u70b9\u3067\u975e\u5e38\u306b\u6709\u7528\u306a\u3082\u306e\u3067\u3042\u308b\uff0e\u624b\u6cd5\u306e\u6bd4\u8f03\u3092\u304a\u3053\u306a\u3046\u969b\u3084\uff0c\u307e\u305f\u30b7\u30f3\u30d7\u30eb\u306a\u30a2\u30eb\u30b4\u30ea\u30ba\u30e0\u306e\u65b9\u304c\u7406\u89e3\u3057\u3084\u3059\u3044\u3068\u3044\u3046\u70b9\u3067\u597d\u307e\u308c\uff0c\u5fc5\u8981\u3068\u3055\u308c\u308b\u5834\u5408\u3082\u3042\u308b\uff0e\u305d\u308c\u307e\u3067\u306e\u95a2\u6570\u3092\u524a\u9664\u30fb\u66f4\u65b0\u3059\u308b\u306e\u3067\u306f\u306a\u304f\uff0c\u65b0\u305f\u306a\u6a5f\u80fd\u30fb\u30b1\u30fc\u30b9\u3092\u8ffd\u52a0\u3059\u308b\u3068\u3044\u3046\u70b9\u3092\u610f\u8b58\u3057\uff0c\u65e2\u5b58\u306e\u95a2\u6570\u30fb\u65b0\u305f\u306a\u6a5f\u80fd\u306e\u4e21\u65b9\u304c\u6271\u3048\u308b\u3088\u3046\u306b\u958b\u767a\u3092\u9032\u3081\u308b\uff0e","title":"7. \u95a2\u6570\u3092\u6d88\u3055\u306a\u3044"},{"location":"6_development_policy/#8","text":"ClimbLab\u306f\u5e38\u306b\u8907\u6570\u540d\u304c\u540c\u6642\u306b\u958b\u767a\u3092\u3059\u3059\u3081\u3066\u3044\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u3057\u3066\u3044\u308b\u9593\u306b\uff0c\u8ab0\u304b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u958b\u767a\u3092\u7d42\u308f\u3089\u305b\u3066\u65b0\u6a5f\u80fd\u3092\u5b9f\u88c5\u3059\u308b\u3053\u3068\u304c\u3088\u304f\u767a\u751f\u3059\u308b\uff0e\u3053\u306e\u969b\uff0cdevelop\u30d6\u30e9\u30f3\u30c1\u306erebase\u3092\u5e38\u306b\u304a\u3053\u306a\u3046\u3053\u3068\uff0e\u81ea\u5206\u304c\u958b\u767a\u6bb5\u968e\u3067\u63a1\u7528\u3057\u3066\u3044\u305f\u95a2\u6570\u304c\uff0c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u4e00\u90e8\u5909\u66f4\u3055\u308c\u3066\u3044\u308b\u53ef\u80fd\u6027\u304c\u3042\u308b\u305f\u3081\uff0c\u5e38\u306b\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306e\u958b\u767a\u72b6\u6cc1\u306b\u3064\u3044\u3066\u628a\u63e1\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u5f53\u7136\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u304c\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u306b\u3082\u5f71\u97ff\u3092\u4e0e\u3048\u308b\u305f\u3081\uff0c\u5e38\u306b\u5831\u544a\u30fb\u9023\u7d61\u30fb\u76f8\u8ac7\u3092\u5fd8\u308c\u306a\u3044\uff0e","title":"8. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3082\u540c\u6642\u9032\u884c\u3067\u958b\u767a\u3057\u3066\u3044\u308b\u3053\u3068\u3092\u5fd8\u308c\u306a\u3044"},{"location":"6_development_policy/#9","text":"\u4e0a\u3067\u3082\u8ff0\u3079\u305f\u3068\u304a\u308a\uff0c\u81ea\u5206\u306e\u5b9f\u88c5\u306f\u4ed6\u4eba\u306e\u958b\u767a\u306b\u5f71\u97ff\u3092\u4e0e\u3048\u308b\uff0e\u305d\u306e\u305f\u3081\uff0c\u4f55\u304b\u65b0\u3057\u3044\u6a5f\u80fd\u306e\u958b\u767a\u3092\u7d42\u3048\u305f\u3089\uff0c\u305d\u306e\u5b9f\u88c5\u306b\u3088\u3063\u3066\u3069\u3093\u306a\u70b9\u304c\u5909\u66f4\u3055\u308c\u305f\u306e\u304b\u3092\uff0c\u305d\u306e\u4f5c\u696d\u306e\u5f53\u4e8b\u8005\u3067\u306f\u306a\u3044\u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u9054\u306b\u3082\u308f\u304b\u308a\u3084\u3059\u304f\u5171\u6709\u3059\u308b\uff0e","title":"9. \u81ea\u5206\u306e\u304a\u3053\u306a\u3063\u305f\u5909\u66f4\u70b9\u3092\u308f\u304b\u308a\u3084\u3059\u304f\u30e1\u30f3\u30d0\u30fc\u306b\u5171\u6709\u3059\u308b"},{"location":"6_development_policy/#10","text":"\u540c\u3058\u7591\u554f\u3092\u4ed6\u306e\u958b\u767a\u30e1\u30f3\u30d0\u30fc\u3082\u62b1\u3044\u3066\u3044\u305f\u308a\uff0c\u3082\u3057\u304f\u306f\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u7d4c\u9a13\u304c\u3042\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e\u307e\u305f\u306f\uff0c\u305d\u306e\u554f\u984c\u3092\u89e3\u6c7a\u3059\u308b\u3088\u3046\u306a\u6a5f\u80fd\u3092\u65b0\u305f\u306b\u5225\u306e\u30e1\u30f3\u30d0\u30fc\u304c\u5b9f\u88c5\u3057\u3066\u304f\u308c\u308b\u304b\u3082\u3057\u308c\u306a\u3044\uff0e","title":"10. \u4ed6\u306e\u30e1\u30f3\u30d0\u30fc\u3068\u7591\u554f\u70b9\u30fb\u554f\u984c\u70b9\u3092\u5171\u6709\u3059\u308b"},{"location":"6_development_policy/#11","text":"\u958b\u767a\u4e2d\u306b\u30d0\u30b0\u3092\u898b\u3064\u3051\u305f\u3089\uff0c\u307f\u3093\u306a\u306b\u5171\u6709\u3059\u308b\u3053\u3068\uff0e\u3059\u3067\u306b\u89e3\u6c7a\u3057\u305f\u3068\u601d\u308f\u308c\u3066\u3044\u305f\u30d0\u30b0\u306e\u767a\u898b\u3084\u81f4\u547d\u7684\u306a\u6b20\u9665\u304c\u3042\u308b\u307e\u307e\u958b\u767a\u3092\u9032\u3081\u306a\u3044\u3088\u3046\u306b\uff0c\u3059\u3050\u306b\u82bd\u3092\u3064\u3080\uff0e","title":"11. \u898b\u3064\u3051\u305f\u30d0\u30b0\u3092\u5831\u544a\u3059\u308b"},{"location":"appendix/","text":"5. Folder Tree \u672c\u7ae0\u3067\u306f\uff0cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3068\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u3092\u793a\u3059\uff0e\u306a\u304a\uff0c\u592a\u5b57\u306f\u30d5\u30a9\u30eb\u30c0\u540d\u3092\u8868\u3059\uff0e\u672c\u7ae0\u3092\u8efd\u304f\u4e00\u8aad\u3059\u308b\u3053\u3068\u3067\uff0cClimbLab\u5168\u4f53\u306e\u69cb\u9020\u3092\u628a\u63e1\u3059\u308b\u3053\u3068\u3067\u304d\u308b\uff0e\u307e\u305f\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u306b\u306f\uff0c\u3053\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\u9069\u5207\u306a\u5834\u6240\u306b\u914d\u7f6e\u3059\u308b\u3053\u3068\uff0e ** climblab/ ** config config\u95a2\u6570\u7fa4\u4e00\u5f0f\u3092\u4fdd\u5b58\u3059\u308b\u30d5\u30a9\u30eb\u30c0 default : config\u306edefault\u7528\u95a2\u6570\u7fa4 preset : \u3053\u308c\u307e\u3067\u306e\u958b\u767a\u306b\u4f7f\u308f\u308c\u305fconfiguration\u95a2\u6570\u7fa4 USER : \u5909\u6570\u4e0a\u66f8\u304d\u7528USER config\u95a2\u6570\u3068\u305d\u306e\u30c6\u30f3\u30d7\u30ec\u30fc\u30c8 config_simulation.m : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306econfig\u3092\u8a2d\u5b9a\u3059\u308b\u5927\u5143\u306e\u95a2\u6570 config_all_default_param.m : default\u306e\u306a\u304b\u306econfig\u30d5\u30a1\u30a4\u30eb\u7fa4\u3092\u5b9f\u884c\u3059\u308b\u95a2\u6570 dat : data\u30d5\u30a9\u30eb\u30c0\u30fc\u306e\u610f\uff0e\u5b9f\u884c\u3057\u305f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u30ed\u30b0\u3084\u52d5\u753b\u306e\u4fdd\u5b58\u5148 docs media : \u5bfe\u5916\u7528\u306b\u4f7f\u7528\u3059\u308b\u753b\u50cf\u30fbgif\u306e\u4fdd\u5b58\u5834\u6240 mkdocs : \u672c\u30de\u30cb\u30e5\u30a2\u30eb\u306e\u4fdd\u5b58\u5834\u6240 lib : ClimbLab\u3067\u4f7f\u7528\u3057\u3066\u3044\u308b\u95a2\u6570\u306e\u4e2d\u3067\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u306e\u307f\u306a\u3089\u305a\u4ed6\u306e\u5206\u91ce\u3078\u306e\u6c4e\u7528\u6027\u3082\u9ad8\u3044\u95a2\u6570\u7fa4\u3092\u4fdd\u5b58\u3059\u308b\u5834\u6240 equ_gia : GIA\u5b89\u5b9a\u9818\u57df\u306b\u3064\u3044\u3066\u306e\u8a08\u7b97\u306b\u95a2\u308f\u308b\u95a2\u6570\u4e00\u5f0f spacedyn_v2r0 : SpaceDyn\u306e\u95a2\u6570\u4e00\u5f0f MATLAB Reference : \u5404\u95a2\u6570\u306e\u5f79\u5272\u306b\u3064\u3044\u3066\uff0chtml\u5f62\u5f0f\u3067\u898b\u3084\u3059\u304f\u307e\u3068\u3081\u3089\u308c\u305f\u3082\u306e target_detection : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u306b\u95a2\u308f\u308b\u95a2\u6570\u4e00\u5f0f \u56de\u8ee2\u884c\u5217\u3092\u8a08\u7b97\u3059\u308b\u3060\u3051\u306e\u95a2\u6570\u7fa4 : rot_2xy.m , rot_x.m , rot_y.m, rot_z.m src : \u811a\u578b\u30af\u30e9\u30a4\u30df\u30f3\u30b0\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u7279\u5316\u3057\u3066\u958b\u767a\u3055\u308c\u3066\u304d\u305f\u95a2\u6570\u7fa4\uff0e\u4e0b\u4f4d\u306e\u69cb\u6210\u30d5\u30a9\u30eb\u30c0\u306e\u6570\u304c\u591a\u3044\u306e\u3067\uff0csrc\u4ee5\u4e0b\u306b\u306e\u307f\u9805\u76ee\u3092\u308f\u3051\u3066\uff0c\u6b21\u306b\u6539\u3081\u3066\u8a18\u3059\uff0e climblab/src/ controller : \u30eb\u30fc\u30d7\u5185\u3067\u4f7f\u7528\u3055\u308c\u308b\u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u91cd\u8981\u306a\u95a2\u6570\u306e\u591a\u304f\u304c\u7f6e\u304b\u308c\u3066\u3044\u308b control : \u95a2\u7bc0\u30c8\u30eb\u30af\u3092\u5236\u5fa1\u3059\u308b\u305f\u3081\u306e\u95a2\u6570\u3092\u53ce\u5bb9 equilibrium : \u5b89\u5b9a\u6027\u89e3\u6790\u306b\u95a2\u308f\u308b\u95a2\u6570\u3092\u53ce\u5bb9\uff0e gait : \u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u4e00\u9023\u306e\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e\u5b9f\u884c\u3055\u308c\u308b\u9806\u756a\u306b\u5f93\u3063\u3066\u4e0b\u4f4d\u30d5\u30a9\u30eb\u30c0\u306b\u756a\u53f7\u304c\u632f\u3089\u308c\u3066\u3044\u308b\uff0e\u5404\u30d5\u30a9\u30eb\u30c0\u5185\u306b\uff0c\u5404\u6b69\u5bb9\u8a08\u753b\u30bf\u30a4\u30d7\u306b\u5fdc\u3058\u305f\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u304c\u5165\u3063\u3066\u3044\u308b\uff0e 0_upd_graspable_points_in_reachable_area : \u53ef\u52d5\u7bc4\u56f2\u5185\u306e\u628a\u6301\u5019\u88dc\u70b9\u306e\u4f4d\u7f6e\u53d6\u5f97 1_upd_swing_num : \u904a\u811a\u306e\u9078\u5b9a\u3092\u3059\u308b\u95a2\u6570 2_upd_swing_next_pos : \u6b21\u306e\u904a\u811a\u306e\u63a5\u5730\u70b9(\u628a\u6301\u70b9)\u3092\u6c7a\u5b9a\u3059\u308b\u95a2\u6570 3_upd_base_next_pos : \u30d9\u30fc\u30b9\u306e\u79fb\u52d5\u4f4d\u7f6e\u3092\u6c7a\u5b9a\u3059\u308b\u95a2\u6570 4_upd_kinematic_feasibility : \u6b21\u306e\u904a\u811a\u30fb\u628a\u6301\u70b9\u30fb\u30d9\u30fc\u30b9\u4f4d\u7f6e\u304c\u9006\u904b\u52d5\u5b66\u7684\u306b\u53ef\u80fd\u304b\u5224\u5b9a\u3059\u308b\u95a2\u6570 **5_upd_gait_history : \u6b69\u5bb9\u8a08\u753b\u306e\u7d50\u679c\u3092\u4fdd\u5b58\u3059\u308b\u95a2\u6570 ini_gait.m : \u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u5909\u6570\u306e\u521d\u671f\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\u95a2\u6570 upd_gait_planning.m : \u6b69\u5bb9\u8a08\u753b\u306e\u95a2\u6570\u7fa4\u306e\u304a\u304a\u3082\u3068\u3067\u3042\u308a\uff0c main_sim \u306e\u30eb\u30fc\u30d7\u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u6b69\u5bb9\u8a08\u753b\u30d1\u30e9\u30e1\u30fc\u30bf\u66f4\u65b0\u306e\u95a2\u6570 global path plan : \u5927\u5c40\u7684\u7d4c\u8def\u8a08\u753b\u306b\u95a2\u3059\u308b\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e local_path_plan : \u5c40\u6240\u7684\u7d4c\u8def\u8a08\u753b\u306b\u95a2\u3059\u308b\u95a2\u6570\u3092\u53ce\u5bb9 motion : \u30d9\u30fc\u30b9\u306e\u52d5\u304d\u30fb\u811a\u306e\u8ecc\u9053\u3092\u751f\u6210\u30fb\u5236\u5fa1\u3059\u308b\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e tools : \u9806\u904b\u52d5\u5b66\u306e\u95a2\u6570\u3068\uff0c\u6b69\u5bb9\u306b\u95a2\u308f\u308bmap\u60c5\u5831\u3092\u53d6\u5f97\u3059\u308b\u95a2\u6570\u304c\u53ce\u5bb9 upd_grasp_detach.m : \u30b0\u30ea\u30c3\u30d1\u306e\u6ed1\u843d\u3092\u5224\u5b9a\u3057\u3066\u66f4\u65b0\u3059\u308b\u95a2\u6570 engine : \u30ed\u30dc\u30c3\u30c8\u306b\u304b\u304b\u308b\u5916\u529b\u306e\u8a08\u7b97\u3084\u5916\u90e8\u3068\u306e\u63a5\u89e6\u30e2\u30c7\u30eb\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e environment climbing_holds_map : \u30dc\u30eb\u30c0\u30ea\u30f3\u30b0\u30db\u30fc\u30eb\u30c9\u3092\u7528\u3044\u305f\u5730\u5f62\u60c5\u5831\u306e\u4fdd\u7ba1\u5834\u6240 grid_map : \u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306e\u751f\u6210\u3057\u305f\u5730\u5f62\u60c5\u5831\u306e\u4fdd\u7ba1\u5834\u6240 terrain_map : \u5b9f\u5730\u5f62\u30de\u30c3\u30d7\u306e\u4fdd\u7ba1\u5834\u6240 uneven_map : \u30d5\u30e9\u30af\u30bf\u30eb\u3092\u5229\u7528\u3057\u305f\u4e0d\u6574\u5730\u30de\u30c3\u30d7\u306e\u4fdd\u7ba1\u5834\u6240 map_grid_desingner.m : \u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306e\u30de\u30c3\u30d7\u306e\u751f\u6210\u3092\u3059\u308b\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb \u5730\u5f62\u60c5\u5831\u30fb\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306b\u95a2\u3059\u308binitialize\u95a2\u6570\u7fa4 : ini_environment.m , ini_surface.m , ini_graspable_points.m map_format_conversion.m : RealSense\u30ab\u30e1\u30e9\u3067\u53d6\u5f97\u3057\u3066PCD\u304b\u30893\u00d7N\u884c\u5217\u3068\u3057\u305f\u70b9\u7fa4\u60c5\u5831\u3092\uff0c\u5ea7\u6a19\u5909\u63db\u30fb\u7dda\u5f62\u88dc\u9593\u3057\u3066\u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306b\u5909\u63db\u3059\u308b\u95a2\u6570\uff0e misc : \u672a\u5206\u985e\u306e\u95a2\u6570\u7fa4\uff0e\u30c7\u30fc\u30bf\u4fdd\u5b58\u306b\u95a2\u308f\u308bsave\u95a2\u6570\u306a\u3069\u304c\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e robot : \u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u306e\u5b9a\u7fa9\u3084\u305d\u306e\u521d\u671f\u8a2d\u5b9a\u30fb\u89e3\u6790\u3092\u884c\u3046\u95a2\u6570\u3092\u53ce\u5bb9\uff0e LP_analysis : \u30ed\u30dc\u30c3\u30c8\u306e\u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(LP)\u304b\u3089\u811a\u5148\u53ef\u52d5\u7bc4\u56f2\u3092\u63cf\u753b\u3059\u308b\u95a2\u6570 ini_12DOF_SV.m , ini_nDOF_SV.m : \u8a2d\u5b9a\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u81ea\u7531\u5ea6\u306b\u3082\u3068\u3065\u304d\u72b6\u614b\u5909\u6570(SV)\u3092\u8a2d\u5b9a\u3059\u308b\u95a2\u6570 ini_(Robot\u540d)\u95a2\u6570\u7fa4 : \u5404\u30ed\u30dc\u30c3\u30c8\u306eLP\u3092\u5185\u90e8\u3067\u6307\u5b9a\u3057\u3066\u30e1\u30a4\u30f3\u306b\u8aad\u307f\u8fbc\u3080 ini_joint_angle.m ini_reachable_area.m ini_robot.m sensing : \u30ab\u30e1\u30e9\u3084\u30bb\u30f3\u30b5\u306b\u3082\u3068\u3065\u304f\u30bb\u30f3\u30b7\u30f3\u30b0\u306b\u95a2\u9023\u3059\u308bini_,upd_\u95a2\u6570\u7fa4\u3092\u4e3b\u8981 visualization : \u5168\u3066\u306evisualize\u95a2\u6570\u7fa4\u306e\u4fdd\u5b58\u5834\u6240 ini_path.m : main_sim.m \u306e\u5b9f\u884c\u306e\u305f\u3081\u306b\uff0c\u5b9f\u884c\u3057\u3066\u3044\u308b\u30d5\u30a9\u30eb\u30c0\u306e\u73fe\u5728\u4f4d\u7f6e\u78ba\u8a8d\u3068\uff0c\u30d1\u30b9\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\uff0e `main_sim.m : ClimbLab\u306e\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb \u4ee5\u4e0a\u304cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u306e\u6982\u8981\u3067\u3042\u308b\uff0e","title":"Appendix"},{"location":"appendix/#5-folder-tree","text":"\u672c\u7ae0\u3067\u306f\uff0cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3068\u95a2\u6570\u306e\u7f6e\u304d\u5834\u6240\u3092\u793a\u3059\uff0e\u306a\u304a\uff0c\u592a\u5b57\u306f\u30d5\u30a9\u30eb\u30c0\u540d\u3092\u8868\u3059\uff0e\u672c\u7ae0\u3092\u8efd\u304f\u4e00\u8aad\u3059\u308b\u3053\u3068\u3067\uff0cClimbLab\u5168\u4f53\u306e\u69cb\u9020\u3092\u628a\u63e1\u3059\u308b\u3053\u3068\u3067\u304d\u308b\uff0e\u307e\u305f\uff0c\u65b0\u305f\u306a\u95a2\u6570\u3084\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\u5834\u5408\u306b\u306f\uff0c\u3053\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u3092\u53c2\u8003\u306b\u9069\u5207\u306a\u5834\u6240\u306b\u914d\u7f6e\u3059\u308b\u3053\u3068\uff0e ** climblab/ ** config config\u95a2\u6570\u7fa4\u4e00\u5f0f\u3092\u4fdd\u5b58\u3059\u308b\u30d5\u30a9\u30eb\u30c0 default : config\u306edefault\u7528\u95a2\u6570\u7fa4 preset : \u3053\u308c\u307e\u3067\u306e\u958b\u767a\u306b\u4f7f\u308f\u308c\u305fconfiguration\u95a2\u6570\u7fa4 USER : \u5909\u6570\u4e0a\u66f8\u304d\u7528USER config\u95a2\u6570\u3068\u305d\u306e\u30c6\u30f3\u30d7\u30ec\u30fc\u30c8 config_simulation.m : \u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306econfig\u3092\u8a2d\u5b9a\u3059\u308b\u5927\u5143\u306e\u95a2\u6570 config_all_default_param.m : default\u306e\u306a\u304b\u306econfig\u30d5\u30a1\u30a4\u30eb\u7fa4\u3092\u5b9f\u884c\u3059\u308b\u95a2\u6570 dat : data\u30d5\u30a9\u30eb\u30c0\u30fc\u306e\u610f\uff0e\u5b9f\u884c\u3057\u305f\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u30ed\u30b0\u3084\u52d5\u753b\u306e\u4fdd\u5b58\u5148 docs media : \u5bfe\u5916\u7528\u306b\u4f7f\u7528\u3059\u308b\u753b\u50cf\u30fbgif\u306e\u4fdd\u5b58\u5834\u6240 mkdocs : \u672c\u30de\u30cb\u30e5\u30a2\u30eb\u306e\u4fdd\u5b58\u5834\u6240 lib : ClimbLab\u3067\u4f7f\u7528\u3057\u3066\u3044\u308b\u95a2\u6570\u306e\u4e2d\u3067\uff0c\u811a\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u306e\u307f\u306a\u3089\u305a\u4ed6\u306e\u5206\u91ce\u3078\u306e\u6c4e\u7528\u6027\u3082\u9ad8\u3044\u95a2\u6570\u7fa4\u3092\u4fdd\u5b58\u3059\u308b\u5834\u6240 equ_gia : GIA\u5b89\u5b9a\u9818\u57df\u306b\u3064\u3044\u3066\u306e\u8a08\u7b97\u306b\u95a2\u308f\u308b\u95a2\u6570\u4e00\u5f0f spacedyn_v2r0 : SpaceDyn\u306e\u95a2\u6570\u4e00\u5f0f MATLAB Reference : \u5404\u95a2\u6570\u306e\u5f79\u5272\u306b\u3064\u3044\u3066\uff0chtml\u5f62\u5f0f\u3067\u898b\u3084\u3059\u304f\u307e\u3068\u3081\u3089\u308c\u305f\u3082\u306e target_detection : \u628a\u6301\u5019\u88dc\u70b9\u691c\u51fa\u306b\u95a2\u308f\u308b\u95a2\u6570\u4e00\u5f0f \u56de\u8ee2\u884c\u5217\u3092\u8a08\u7b97\u3059\u308b\u3060\u3051\u306e\u95a2\u6570\u7fa4 : rot_2xy.m , rot_x.m , rot_y.m, rot_z.m src : \u811a\u578b\u30af\u30e9\u30a4\u30df\u30f3\u30b0\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306b\u7279\u5316\u3057\u3066\u958b\u767a\u3055\u308c\u3066\u304d\u305f\u95a2\u6570\u7fa4\uff0e\u4e0b\u4f4d\u306e\u69cb\u6210\u30d5\u30a9\u30eb\u30c0\u306e\u6570\u304c\u591a\u3044\u306e\u3067\uff0csrc\u4ee5\u4e0b\u306b\u306e\u307f\u9805\u76ee\u3092\u308f\u3051\u3066\uff0c\u6b21\u306b\u6539\u3081\u3066\u8a18\u3059\uff0e climblab/src/ controller : \u30eb\u30fc\u30d7\u5185\u3067\u4f7f\u7528\u3055\u308c\u308b\u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u91cd\u8981\u306a\u95a2\u6570\u306e\u591a\u304f\u304c\u7f6e\u304b\u308c\u3066\u3044\u308b control : \u95a2\u7bc0\u30c8\u30eb\u30af\u3092\u5236\u5fa1\u3059\u308b\u305f\u3081\u306e\u95a2\u6570\u3092\u53ce\u5bb9 equilibrium : \u5b89\u5b9a\u6027\u89e3\u6790\u306b\u95a2\u308f\u308b\u95a2\u6570\u3092\u53ce\u5bb9\uff0e gait : \u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u4e00\u9023\u306e\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e\u5b9f\u884c\u3055\u308c\u308b\u9806\u756a\u306b\u5f93\u3063\u3066\u4e0b\u4f4d\u30d5\u30a9\u30eb\u30c0\u306b\u756a\u53f7\u304c\u632f\u3089\u308c\u3066\u3044\u308b\uff0e\u5404\u30d5\u30a9\u30eb\u30c0\u5185\u306b\uff0c\u5404\u6b69\u5bb9\u8a08\u753b\u30bf\u30a4\u30d7\u306b\u5fdc\u3058\u305f\u95a2\u6570\u30d5\u30a1\u30a4\u30eb\u304c\u5165\u3063\u3066\u3044\u308b\uff0e 0_upd_graspable_points_in_reachable_area : \u53ef\u52d5\u7bc4\u56f2\u5185\u306e\u628a\u6301\u5019\u88dc\u70b9\u306e\u4f4d\u7f6e\u53d6\u5f97 1_upd_swing_num : \u904a\u811a\u306e\u9078\u5b9a\u3092\u3059\u308b\u95a2\u6570 2_upd_swing_next_pos : \u6b21\u306e\u904a\u811a\u306e\u63a5\u5730\u70b9(\u628a\u6301\u70b9)\u3092\u6c7a\u5b9a\u3059\u308b\u95a2\u6570 3_upd_base_next_pos : \u30d9\u30fc\u30b9\u306e\u79fb\u52d5\u4f4d\u7f6e\u3092\u6c7a\u5b9a\u3059\u308b\u95a2\u6570 4_upd_kinematic_feasibility : \u6b21\u306e\u904a\u811a\u30fb\u628a\u6301\u70b9\u30fb\u30d9\u30fc\u30b9\u4f4d\u7f6e\u304c\u9006\u904b\u52d5\u5b66\u7684\u306b\u53ef\u80fd\u304b\u5224\u5b9a\u3059\u308b\u95a2\u6570 **5_upd_gait_history : \u6b69\u5bb9\u8a08\u753b\u306e\u7d50\u679c\u3092\u4fdd\u5b58\u3059\u308b\u95a2\u6570 ini_gait.m : \u6b69\u5bb9\u8a08\u753b\u306b\u95a2\u308f\u308b\u5909\u6570\u306e\u521d\u671f\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\u95a2\u6570 upd_gait_planning.m : \u6b69\u5bb9\u8a08\u753b\u306e\u95a2\u6570\u7fa4\u306e\u304a\u304a\u3082\u3068\u3067\u3042\u308a\uff0c main_sim \u306e\u30eb\u30fc\u30d7\u5185\u3067\u5b9f\u884c\u3055\u308c\u308b\u6b69\u5bb9\u8a08\u753b\u30d1\u30e9\u30e1\u30fc\u30bf\u66f4\u65b0\u306e\u95a2\u6570 global path plan : \u5927\u5c40\u7684\u7d4c\u8def\u8a08\u753b\u306b\u95a2\u3059\u308b\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e local_path_plan : \u5c40\u6240\u7684\u7d4c\u8def\u8a08\u753b\u306b\u95a2\u3059\u308b\u95a2\u6570\u3092\u53ce\u5bb9 motion : \u30d9\u30fc\u30b9\u306e\u52d5\u304d\u30fb\u811a\u306e\u8ecc\u9053\u3092\u751f\u6210\u30fb\u5236\u5fa1\u3059\u308b\u95a2\u6570\u7fa4\u3092\u53ce\u5bb9\uff0e tools : \u9806\u904b\u52d5\u5b66\u306e\u95a2\u6570\u3068\uff0c\u6b69\u5bb9\u306b\u95a2\u308f\u308bmap\u60c5\u5831\u3092\u53d6\u5f97\u3059\u308b\u95a2\u6570\u304c\u53ce\u5bb9 upd_grasp_detach.m : \u30b0\u30ea\u30c3\u30d1\u306e\u6ed1\u843d\u3092\u5224\u5b9a\u3057\u3066\u66f4\u65b0\u3059\u308b\u95a2\u6570 engine : \u30ed\u30dc\u30c3\u30c8\u306b\u304b\u304b\u308b\u5916\u529b\u306e\u8a08\u7b97\u3084\u5916\u90e8\u3068\u306e\u63a5\u89e6\u30e2\u30c7\u30eb\u306b\u95a2\u308f\u308b\u95a2\u6570\uff0e environment climbing_holds_map : \u30dc\u30eb\u30c0\u30ea\u30f3\u30b0\u30db\u30fc\u30eb\u30c9\u3092\u7528\u3044\u305f\u5730\u5f62\u60c5\u5831\u306e\u4fdd\u7ba1\u5834\u6240 grid_map : \u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306e\u751f\u6210\u3057\u305f\u5730\u5f62\u60c5\u5831\u306e\u4fdd\u7ba1\u5834\u6240 terrain_map : \u5b9f\u5730\u5f62\u30de\u30c3\u30d7\u306e\u4fdd\u7ba1\u5834\u6240 uneven_map : \u30d5\u30e9\u30af\u30bf\u30eb\u3092\u5229\u7528\u3057\u305f\u4e0d\u6574\u5730\u30de\u30c3\u30d7\u306e\u4fdd\u7ba1\u5834\u6240 map_grid_desingner.m : \u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306e\u30de\u30c3\u30d7\u306e\u751f\u6210\u3092\u3059\u308b\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb \u5730\u5f62\u60c5\u5831\u30fb\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u74b0\u5883\u306b\u95a2\u3059\u308binitialize\u95a2\u6570\u7fa4 : ini_environment.m , ini_surface.m , ini_graspable_points.m map_format_conversion.m : RealSense\u30ab\u30e1\u30e9\u3067\u53d6\u5f97\u3057\u3066PCD\u304b\u30893\u00d7N\u884c\u5217\u3068\u3057\u305f\u70b9\u7fa4\u60c5\u5831\u3092\uff0c\u5ea7\u6a19\u5909\u63db\u30fb\u7dda\u5f62\u88dc\u9593\u3057\u3066\u30b0\u30ea\u30c3\u30c9\u5f62\u5f0f\u306b\u5909\u63db\u3059\u308b\u95a2\u6570\uff0e misc : \u672a\u5206\u985e\u306e\u95a2\u6570\u7fa4\uff0e\u30c7\u30fc\u30bf\u4fdd\u5b58\u306b\u95a2\u308f\u308bsave\u95a2\u6570\u306a\u3069\u304c\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e robot : \u30ed\u30dc\u30c3\u30c8\u30e2\u30c7\u30eb\u306e\u5b9a\u7fa9\u3084\u305d\u306e\u521d\u671f\u8a2d\u5b9a\u30fb\u89e3\u6790\u3092\u884c\u3046\u95a2\u6570\u3092\u53ce\u5bb9\uff0e LP_analysis : \u30ed\u30dc\u30c3\u30c8\u306e\u30ea\u30f3\u30af\u30d1\u30e9\u30e1\u30fc\u30bf(LP)\u304b\u3089\u811a\u5148\u53ef\u52d5\u7bc4\u56f2\u3092\u63cf\u753b\u3059\u308b\u95a2\u6570 ini_12DOF_SV.m , ini_nDOF_SV.m : \u8a2d\u5b9a\u3055\u308c\u305f\u30ed\u30dc\u30c3\u30c8\u306e\u81ea\u7531\u5ea6\u306b\u3082\u3068\u3065\u304d\u72b6\u614b\u5909\u6570(SV)\u3092\u8a2d\u5b9a\u3059\u308b\u95a2\u6570 ini_(Robot\u540d)\u95a2\u6570\u7fa4 : \u5404\u30ed\u30dc\u30c3\u30c8\u306eLP\u3092\u5185\u90e8\u3067\u6307\u5b9a\u3057\u3066\u30e1\u30a4\u30f3\u306b\u8aad\u307f\u8fbc\u3080 ini_joint_angle.m ini_reachable_area.m ini_robot.m sensing : \u30ab\u30e1\u30e9\u3084\u30bb\u30f3\u30b5\u306b\u3082\u3068\u3065\u304f\u30bb\u30f3\u30b7\u30f3\u30b0\u306b\u95a2\u9023\u3059\u308bini_,upd_\u95a2\u6570\u7fa4\u3092\u4e3b\u8981 visualization : \u5168\u3066\u306evisualize\u95a2\u6570\u7fa4\u306e\u4fdd\u5b58\u5834\u6240 ini_path.m : main_sim.m \u306e\u5b9f\u884c\u306e\u305f\u3081\u306b\uff0c\u5b9f\u884c\u3057\u3066\u3044\u308b\u30d5\u30a9\u30eb\u30c0\u306e\u73fe\u5728\u4f4d\u7f6e\u78ba\u8a8d\u3068\uff0c\u30d1\u30b9\u8a2d\u5b9a\u3092\u304a\u3053\u306a\u3046\uff0e `main_sim.m : ClimbLab\u306e\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb \u4ee5\u4e0a\u304cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u69cb\u6210\u306e\u6982\u8981\u3067\u3042\u308b\uff0e","title":"5. Folder Tree"},{"location":"basics/","text":".katex img { object-fit: fill; padding: unset; display: block; position: absolute; width: 100%; height: inherit; } Basics for SpaceDyn Equation of motion (EOM) for floating-based system To be added... Generalized Jacobian [2] To be added... Note If you use Genralized Jacobian in an academic context, please put the following citation. [2] Y. Umetani and K. Yoshida, Resolved motion rate control of space manipulators with generalized Jacobian matrix, IEEE Transactions on Robotics and Automation , vol. 5, no. 3, pp. 303--314, 1989. 1 2 3 4 5 6 7 8 9 10 @ARTICLE { generalizedJacobian , author = { Umetani , Y . and Yoshida , K . } , journal = { IEEE Transactions on Robotics and Automation } , title = { Resolved motion rate control of space manipulators with generalized Jacobian matrix } , year = { 1989 } , volume = { 5 } , number = { 3 } , pages = { 303 -- 314 } , doi = { 10.1109 / 70.34766 } } Basic Knowledge for SpaceDyn User We assume the system composed of n+1 bodies and connected by n joints. Let the body 0 be a reference body . Multiple branches can attach on any single body , as far as the system keeps a topological tree configuration. There must be a single joint between two bodies. We call a terminal point or the point of interest such as manipulator hand as endpoint. Each body, except body 0, can have one endpoint at maximum. In this document, the terms body and link are the same. The SpaceDyn allows force/torque input on (i) the centroid of the reference body, (ii) each endpoint, and (iii) each joint. The toolbox computes the position, velocity and acceleration of (1) the centroid of the reference body, (2) the centroid of each body, (3) each endopoint, and (4) each joint. Computation of input force/torque are open to user programming. You can arbitrary decide each joint as either active or passive one. If you give always zero torque, such as \u03c4 0 = 0 \\tau_0 = 0 \u03c4 0 \u200b = 0 , the corresponding joint behaves as a free joint. Or if you give such a torque as: \u03c4 i = \u2212 K q i \u2212 D q \u02d9 i \\tau_i = - K q_i - D \\dot{q}_i \u03c4 i \u200b = \u2212 K q i \u200b \u2212 D q \u02d9 \u200b i \u200b the joint behaves as a passive visco-elastic joint. You can treat even a flexible link, by modeling it as a discrete successive chain of rigid links connected by elastic joints. Of course, you can give any arbitrary control torque determined by your own control law, on all or arbitrary selected joints. We know that the Denavit-Hartenberg (DH) notation is commonly used in the field of manipulator kinematics with the advantage of unique allocation of coordinate systems with minimum parameters, but we know that the DH sometimes locates the coordinate ofitin away from the location of an actual joint. From the dynamics point of view, the angular velocity and the inertia tensor should be defined around the corresponding joint axis or body centroid. We then do NOT use the DH notation but introduce a rule to define the coordinate system with more flexibility. Note We do NOT use the DH notation in SpaceDyn. Our rule locates the origin of the coordinate systems with more flexibility. Our rule locates the origin of the frame on each joint and orients the primary axes so that the inertia tensor should be simpler, but admits three position and three orientation parameters among two successive coordinate systems. For the representation of attitude or orientation, we use 3 by 3 direction cosine matrices. The advantage of direction cosine is (1) singularity free, (2) we can easily defive Roll-Pitch-Yaw angles, Euler angles, or quartanions, and (3) it is easy to find the mathematical relationship with angular velocity. On the other hand, we frequently need Roll-Pitch-Yaw (RPY) replresentation also. For example, in order to express the twisting angles between two coordinate systems, we consider \u03b1 \\alpha \u03b1 (roll) around x x x -axis, \u03b2 \\beta \u03b2 (pitch) around y y y -axis, then \u03b3 \\gamma \u03b3 (yaw) around z z z -axis. Weak points: The SpaceDyn is not good at dealing with kinematic constraints other than joint axes. It is also weak at dealing with the problems in which a contact point is dynamically changing. For those problems, a good user programming is required to model the constraint forces.","title":"Basics"},{"location":"basics/#basics-for-spacedyn","text":"","title":"Basics for SpaceDyn"},{"location":"basics/#equation-of-motion-eom-for-floating-based-system","text":"To be added...","title":"Equation of motion (EOM) for floating-based system"},{"location":"basics/#generalized-jacobian-2","text":"To be added... Note If you use Genralized Jacobian in an academic context, please put the following citation. [2] Y. Umetani and K. Yoshida, Resolved motion rate control of space manipulators with generalized Jacobian matrix, IEEE Transactions on Robotics and Automation , vol. 5, no. 3, pp. 303--314, 1989. 1 2 3 4 5 6 7 8 9 10 @ARTICLE { generalizedJacobian , author = { Umetani , Y . and Yoshida , K . } , journal = { IEEE Transactions on Robotics and Automation } , title = { Resolved motion rate control of space manipulators with generalized Jacobian matrix } , year = { 1989 } , volume = { 5 } , number = { 3 } , pages = { 303 -- 314 } , doi = { 10.1109 / 70.34766 } }","title":"Generalized Jacobian [2]"},{"location":"basics/#basic-knowledge-for-spacedyn-user","text":"We assume the system composed of n+1 bodies and connected by n joints. Let the body 0 be a reference body . Multiple branches can attach on any single body , as far as the system keeps a topological tree configuration. There must be a single joint between two bodies. We call a terminal point or the point of interest such as manipulator hand as endpoint. Each body, except body 0, can have one endpoint at maximum. In this document, the terms body and link are the same. The SpaceDyn allows force/torque input on (i) the centroid of the reference body, (ii) each endpoint, and (iii) each joint. The toolbox computes the position, velocity and acceleration of (1) the centroid of the reference body, (2) the centroid of each body, (3) each endopoint, and (4) each joint. Computation of input force/torque are open to user programming. You can arbitrary decide each joint as either active or passive one. If you give always zero torque, such as \u03c4 0 = 0 \\tau_0 = 0 \u03c4 0 \u200b = 0 , the corresponding joint behaves as a free joint. Or if you give such a torque as: \u03c4 i = \u2212 K q i \u2212 D q \u02d9 i \\tau_i = - K q_i - D \\dot{q}_i \u03c4 i \u200b = \u2212 K q i \u200b \u2212 D q \u02d9 \u200b i \u200b the joint behaves as a passive visco-elastic joint. You can treat even a flexible link, by modeling it as a discrete successive chain of rigid links connected by elastic joints. Of course, you can give any arbitrary control torque determined by your own control law, on all or arbitrary selected joints. We know that the Denavit-Hartenberg (DH) notation is commonly used in the field of manipulator kinematics with the advantage of unique allocation of coordinate systems with minimum parameters, but we know that the DH sometimes locates the coordinate ofitin away from the location of an actual joint. From the dynamics point of view, the angular velocity and the inertia tensor should be defined around the corresponding joint axis or body centroid. We then do NOT use the DH notation but introduce a rule to define the coordinate system with more flexibility. Note We do NOT use the DH notation in SpaceDyn. Our rule locates the origin of the coordinate systems with more flexibility. Our rule locates the origin of the frame on each joint and orients the primary axes so that the inertia tensor should be simpler, but admits three position and three orientation parameters among two successive coordinate systems. For the representation of attitude or orientation, we use 3 by 3 direction cosine matrices. The advantage of direction cosine is (1) singularity free, (2) we can easily defive Roll-Pitch-Yaw angles, Euler angles, or quartanions, and (3) it is easy to find the mathematical relationship with angular velocity. On the other hand, we frequently need Roll-Pitch-Yaw (RPY) replresentation also. For example, in order to express the twisting angles between two coordinate systems, we consider \u03b1 \\alpha \u03b1 (roll) around x x x -axis, \u03b2 \\beta \u03b2 (pitch) around y y y -axis, then \u03b3 \\gamma \u03b3 (yaw) around z z z -axis. Weak points: The SpaceDyn is not good at dealing with kinematic constraints other than joint axes. It is also weak at dealing with the problems in which a contact point is dynamically changing. For those problems, a good user programming is required to model the constraint forces.","title":"Basic Knowledge for SpaceDyn User"},{"location":"c%2B%2B/","text":"3. Other Main Functions \u524d\u7ae0\u3067 main_sim.m \u3068\u305d\u306e\u5185\u90e8\u3067\u5b9f\u884c\u3055\u308c\u308b5\u3064\u306e\u7a2e\u985e\u306e\u95a2\u6570\u306b\u3064\u3044\u3066\u8ff0\u3079\u305f\uff0e\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u884c\u306b\u7528\u3089\u308c\u308bMain\u95a2\u6570\u306f main_sim.m \u305f\u3060\u4e00\u3064\u3067\u3042\u308b\uff0e\u305d\u306e\u4ee3\u308f\u308a\u306b\u4f7f\u7528\u3059\u308b\u30e6\u30fc\u30b6\u30fc\u304c\u305d\u308c\u305e\u308cConfiguration\u95a2\u6570\u3092\u72ec\u81ea\u306b\u8a2d\u5b9a\u3059\u308b\u3053\u3068\u3067\u69d8\u3005\u306a\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u540c\u6642\u306b\u958b\u767a\u3059\u308b\u3053\u3068\u304c\u3067\u304d\uff0c\u3053\u308c\u304cClimbLab\u304c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u30d7\u30e9\u30c3\u30c8\u30d5\u30a9\u30fc\u30e0\u3067\u3042\u308b\u6240\u4ee5\u3067\u3042\u308b\uff0e\u3057\u304b\u3057\uff0c main_sim.m \u4ee5\u5916\u306b\u3082\uff0cClimbLab\u306e\u30d5\u30a9\u30eb\u30c0\u5185\u306b\u306f\u5358\u72ec\u3067\u5b9f\u884c\u3067\u304d\u308b\u95a2\u6570\u304c\u5b58\u5728\u3059\u308b\uff0e\u3053\u308c\u3089\u306e\u95a2\u6570\u306b\u306f\u63a5\u982d\u8f9e\u306b main_ \u304c\u4ed8\u3051\u3089\u308c\u3066\u304a\u308a\uff0c\u4ee5\u4e0b\u306e5\u3064\u306eMain\u95a2\u6570\u304c\u5b58\u5728\u3059\u308b\uff0e main_iterative_sim.m main_LP_2D_analysis.m main_LP_3D_analysis.m main_target_detection.m main_iterative_target_detection.m main_grid_map_designer.m 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/climblab/src/robot/LP_analysis \u4e0b\u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\uff0e main_target_detection.m \u306f\uff0c\u5730\u5f62\u60c5\u5831\u30c7\u30fc\u30bf\u306b\u5bfe\u3057\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3046\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3067\u3042\u308b\uff0e main_sim.m \u5185\u3067\u3082 target_detection.m \u3092\u5b9f\u884c\u3057\u3066\u628a\u6301\u53ef\u80fd\u70b9\u691c\u51fa\u3092\u304a\u3053\u306a\u3046\u3053\u3068\u3082\u3067\u304d\u308b\u304c\uff0c\u4e88\u3081\u3053\u306eMain\u95a2\u6570\u3092\u7528\u3044\u3066\uff0c main_sim.m 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main_grid_map_designer.m \u306f\u30d5\u30a9\u30eb\u30c0 /climblab/src/environment/grid_map \u4e0b\u306b\u7f6e\u304b\u308c\u305f\u95a2\u6570\u3067\u3042\u308b\uff0e \u4ee5\u4e0a\u304c\uff0cmain_sim.m\u4ee5\u5916\u306b\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3068\u3057\u3066ClimbLab\u306b\u5b58\u5728\u3057\u3066\u3044\u308bMain\u95a2\u6570\u3067\u3042\u308b\uff0e","title":"3. Other Main Functions"},{"location":"index%20%28copy%29/","text":"Welcome to MkDocs For full documentation visit mkdocs.org . Commands mkdocs new [dir-name] - Create a new project. mkdocs serve - Start the live-reloading docs server. mkdocs build - Build the documentation site. mkdocs help - Print this help message. Project layout 1 2 3 4 mkdocs.yml # The configuration file. docs/ index.md # The documentation homepage. ... # Other markdown pages, images and other files. Examples Important Note We installed admonition for the important message such as cautions, note, and remarks. E.g.) Note This is an important message. Tip \u30d2\u30f3\u30c8\u3067\u3059\u3002 Warning \u3053\u308c\u306f\u8b66\u544a\u3067\u3059 Danger \u3053\u308c\u306f\u5371\u967a\u3067\u3059\u3002","title":"Welcome to MkDocs"},{"location":"index%20%28copy%29/#welcome-to-mkdocs","text":"For full documentation visit mkdocs.org .","title":"Welcome to MkDocs"},{"location":"index%20%28copy%29/#commands","text":"mkdocs new [dir-name] - Create a new project. mkdocs serve - Start the live-reloading docs server. mkdocs build - Build the documentation site. mkdocs help - Print this help message.","title":"Commands"},{"location":"index%20%28copy%29/#project-layout","text":"1 2 3 4 mkdocs.yml # The configuration file. docs/ index.md # The documentation homepage. ... # Other markdown pages, images and other files.","title":"Project layout"},{"location":"index%20%28copy%29/#examples","text":"","title":"Examples"},{"location":"index%20%28copy%29/#important-note","text":"We installed admonition for the important message such as cautions, note, and remarks. E.g.) Note This is an important message. Tip \u30d2\u30f3\u30c8\u3067\u3059\u3002 Warning \u3053\u308c\u306f\u8b66\u544a\u3067\u3059 Danger \u3053\u308c\u306f\u5371\u967a\u3067\u3059\u3002","title":"Important Note"},{"location":"matlab/","text":"SpaceDyn as a MATLAB toolbox SpaceDyn was originally created as MATLAB toolbox [1]. We developed this toolbox motivated and inspired by Robotics toolbox developed by Peter I. Corke. We took one m-file ( cross.m ) and use it as the original is, but SpaceDyn as a whole, does not have compatibility with the Peter's Robotics toolbox unfortunately. Note The MATLAB toolbox of Spacedyn requires MATLAB 5.0 or higher. (It uses functions that are not supported in 4.0 or lower.) Usage Just clone the repository, and copy all the MATLAB functions in SpaceDyn/src/matlab to your workspace, and use them to model your robot and calculate its kinematics and dynamics. Each-by-each m-file usage is detailed in the following quick reference shown later. Technical Note For mathematical symbols, we give the name of variables with more than two letters. For example, vector r and c are coded by RR and cc , respectively This is to avoid the confusion with control variables such as i , j , k , or l , m , n , etc, which are frequently used as iteration or array counters. However, there is an exeption: the symbol q is used for the joint variable vector q . Since MATLAB doesn't allo 0 for array index, we use R0 and c0 instead of RR[0] and cc[0] , for example. For the representation of attitude or orientation, we use 3 by 3 direction cosine matrices, coded with a symbol A . For example, A0 is the direction cosines to represent the attitude of the body 0. For the other bodies, a matrix AA is used. For Roll-Pitch-Yaw (RPY) angles, we use the symbol Q . For example, in order to express the twisting angles between two coordinate systems, we consider $ \\alpha $ (roll) around $ x $-axis, $ \\beta $ (pitch) around $ y $-axis, then $ \\gumma $ (yaw) around $ z $-axis. The set of these angles are coded by Qi . We use both the input variables and the global variables to pass the values to m-file functions. The input variables inside the braces are the variables changing time to time, such as joint angles, positions, orientations, and so on. The global variables are the ones holding constant once the model is given, such as topological description matrices, kinematics and dynamic parameters. Quick Reference The interactive quick reference guide written in html is already available in our GitHub directory . Please download the repository spacedyn_reference and open index.html in web browser to get started. Original User Manual The original user manual is also avaliable. The Spacedyn - a MATLAB Toolbox for Space and Mobile Robots We heavily recommend the user to read this manual, which describe the development philosophy and programing rules, to understand the code, deeply.","title":"MATLAB"},{"location":"matlab/#spacedyn-as-a-matlab-toolbox","text":"SpaceDyn was originally created as MATLAB toolbox [1]. We developed this toolbox motivated and inspired by Robotics toolbox developed by Peter I. Corke. We took one m-file ( cross.m ) and use it as the original is, but SpaceDyn as a whole, does not have compatibility with the Peter's Robotics toolbox unfortunately. Note The MATLAB toolbox of Spacedyn requires MATLAB 5.0 or higher. (It uses functions that are not supported in 4.0 or lower.)","title":"SpaceDyn as a MATLAB toolbox"},{"location":"matlab/#usage","text":"Just clone the repository, and copy all the MATLAB functions in SpaceDyn/src/matlab to your workspace, and use them to model your robot and calculate its kinematics and dynamics. Each-by-each m-file usage is detailed in the following quick reference shown later.","title":"Usage"},{"location":"matlab/#technical-note","text":"For mathematical symbols, we give the name of variables with more than two letters. For example, vector r and c are coded by RR and cc , respectively This is to avoid the confusion with control variables such as i , j , k , or l , m , n , etc, which are frequently used as iteration or array counters. However, there is an exeption: the symbol q is used for the joint variable vector q . Since MATLAB doesn't allo 0 for array index, we use R0 and c0 instead of RR[0] and cc[0] , for example. For the representation of attitude or orientation, we use 3 by 3 direction cosine matrices, coded with a symbol A . For example, A0 is the direction cosines to represent the attitude of the body 0. For the other bodies, a matrix AA is used. For Roll-Pitch-Yaw (RPY) angles, we use the symbol Q . For example, in order to express the twisting angles between two coordinate systems, we consider $ \\alpha $ (roll) around $ x $-axis, $ \\beta $ (pitch) around $ y $-axis, then $ \\gumma $ (yaw) around $ z $-axis. The set of these angles are coded by Qi . We use both the input variables and the global variables to pass the values to m-file functions. The input variables inside the braces are the variables changing time to time, such as joint angles, positions, orientations, and so on. The global variables are the ones holding constant once the model is given, such as topological description matrices, kinematics and dynamic parameters.","title":"Technical Note"},{"location":"matlab/#quick-reference","text":"The interactive quick reference guide written in html is already available in our GitHub directory . Please download the repository spacedyn_reference and open index.html in web browser to get started.","title":"Quick Reference"},{"location":"matlab/#original-user-manual","text":"The original user manual is also avaliable. The Spacedyn - a MATLAB Toolbox for Space and Mobile Robots We heavily recommend the user to read this manual, which describe the development philosophy and programing rules, to understand the code, deeply.","title":"Original User Manual"},{"location":"ros/","text":"4. How to Execute Simulation ClimbLab\u306fMATLAB\u3067\u8a18\u8ff0\u3055\u308c\u3066\u304a\u308a\uff0c\u5b9f\u884c\u306b\u306fMATALB\u3092\u4f7f\u7528\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u52d5\u4f5c\u78ba\u8a8d\u304c\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308bMATLAB\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306f\uff0c\u672c\u8ad6\u6587\u57f7\u7b46\u6642(2022\u5e742\u67081\u65e5)\u306b\u304a\u3044\u3066\uff0cMATLAB R2019b\u3067\u3042\u308b\uff0e\u3088\u3063\u3066\uff0c\u5b9f\u884c\u306b\u306fR2019b\u4ee5\u964d\u306eMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u304c\u5fc5\u8981\u3067\u3042\u308b\uff0e\u307e\u305f\uff0cMATLAB Toolbox\u306b\u3064\u3044\u3066\u306f\uff0c\u57fa\u672c\u7684\u306b\u5fc5\u8981\u3068\u3057\u306a\u3044\u304c\uff0c\u3054\u304f\u4e00\u90e8\u306e\u6a5f\u80fd\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306eToolbox\uff1a Optimization Toolbox Robotics Toolbox Signal Processing Toolbox Reinforcement Learning Toolbox Deep Learning Toolbox \u304c\u4f7f\u7528\u3055\u308c\u308b\u305f\u3081\uff0c\u5fc5\u8981\u306a\u5834\u5408\u306f\u9069\u5b9c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e 4.1 How to execute main_sim.m main_sim.m \u3092\u5b9f\u884c\u3057\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u624b\u9806\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u306a\u304a\uff0c\u5148\u306b\u8ff0\u3079\u305fMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u3092\u524d\u63d0\u3068\u3059\u308b\uff0e \u307e\u305a\u57fa\u672c\u8a2d\u5b9a\u3067\u3042\u308b\"default\"\u3067\u5b9f\u884c\u3059\u308b\u5834\u5408\u306f\uff0c GitHub\u3084BitBucket\u304b\u3089ClimbLab\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3059\u308b\uff0e MATLAB\u3092\u958b\u304f\uff0e \u30d5\u30a9\u30eb\u30c0/climblab/src\u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b main_sim.m \u3092\u958b\u304f\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u304c\"default\"\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e MATLAB\u5185\u306e\u300c\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u300d\u3092 /climblab \u306b\u3059\u308b\uff0e main\\_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u5b9f\u884c\u5f8c\uff0c\u300cmain_sim.m\u306f\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u30fc\u3084MATLAB\u30d1\u30b9\u4e0a\u3067\u898b\u3064\u304b\u308a\u307e\u305b\u3093\uff0e\u300d\u3068\u3044\u3046\u30a8\u30e9\u30fc\u304c\u51fa\u305f\u5834\u5408\u306f\uff0c\u300c\u30d1\u30b9\u306b\u8ffd\u52a0\u300d\u3092\u9078\u629e\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u306b\u3088\u3063\u3066\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u59cb\u3055\u308c\u308b\uff0e \u307e\u305f\u3053\u306e\"default\"\u304b\u3089\u81ea\u5206\u7528\u306b\u65b0\u305f\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u8a66\u3059\u5834\u5408\u306b\u306f\uff0c \u30d5\u30a9\u30eb\u30c0 /climblab/config/USER \u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b config\\_USER\\_param\\_template.m \u3092\u30b3\u30d4\u30fc\u3057\uff0c\u540c\u3058\u30d5\u30a9\u30eb\u30c0\u306b\uff0c config_USER_param.m \u3068\u540d\u524d\u3092\u5909\u3048\u3066\u4f5c\u6210\u3059\u308b\uff0e config_USER_param.m \u5185\u306b\uff0cdefault\u304b\u3089\u5909\u66f4\u3057\u305f\u3044\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u66f8\u304d\u52a0\u3048\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"default\"\u304b\u3089\"USER\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u3067\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u5909\u66f4\u3067\u304d\u308b\u8a2d\u5b9a\u306f\uff0c\u30d5\u30a9\u30eb\u30c0 config/default \u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u5404class\u306e\u521d\u671f\u8a2d\u5b9a\u7528\u306e\u95a2\u6570\u306e\u4e2d\u8eab\u3092\u898b\u308b\u3053\u3068\u3067\u78ba\u8a8d\u3067\u304d\u308b\uff0e \u307e\u305f\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u9032\u3081\u308b\u4e2d\u3067\uff0c\u8a2d\u5b9a\u3092\u534a\u6c38\u7d9a\u7684\u306b\u4fdd\u5b58\u3057\u3066\u304a\u304d\u305f\u3044config\u30d5\u30a1\u30a4\u30eb\u304c\u3042\u308b\u5834\u5408\u306f\uff0cpreset\u3068\u3057\u3066\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u81ea\u5206\u304c\u958b\u767a\u3057\u305f\u308f\u3051\u3067\u306f\u306a\u3044\u65e2\u5b58\u306epreset\u306b\u3064\u3044\u3066\u306f\u57fa\u672c\u7684\u306b\u7de8\u96c6\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u3053\u308c\u3089\u306epreset\u306b\u306f\u8ad6\u6587\u306a\u3069\u3067\u5bfe\u5916\u7684\u306b\u793a\u3057\u305f\u7d50\u679c\u3092\u4fdd\u5b58\u3057\u3066\u304a\u304f\u3079\u304d\u3082\u306e\u3082\u3042\u308b\u306e\u3067\uff0c\u7de8\u96c6\u3059\u308b\u969b\u306f\u958b\u767a\u8005\u3084\u30c1\u30fc\u30e0\u3068\u8a71\u3057\u5408\u3046\u5fc5\u8981\u304c\u3042\u308b\uff0epreset\u306e\u4f5c\u6210\u624b\u9806\u3092\u4ee5\u4e0b\u306b\u793a\u3059\uff0e config/preset \u4e0b\u306b\uff0c config_xxx_param.m \u3068\u3044\u3046\u81ea\u5206\u306econfig\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u308b\uff0e xxx \u306f\u4efb\u610f\u3060\u304c\uff0c config_ \u3067\u59cb\u307e\u308a\uff0c _param \u3067\u7d42\u308f\u308b\u3088\u3046\u306b\u547d\u540d\u3059\u308b\uff0e config_xxx_param.m \u306e\u5185\u90e8\u306b\u81ea\u5206\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a2d\u5b9a\u3059\u308b\uff0e main_sim\u5185\u3067 `config = \u2018xxx\u2019; \u3068\u8a2d\u5b9a\u3059\u308b\uff0e config_simulation\u5185\u3067\u4e00\u756a\u4e0b\u306b\uff0c if strcmp(config, \u2018xxx\u2019) [... ] = config_xxx_param(....); end \u3068\u65b0\u3057\u304f\u8a18\u8ff0\u3057\u3066\uff0c\u4f5c\u6210\u3057\u305fconfig\u30d5\u30a1\u30a4\u30eb\u3092load\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"xxx\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim \u3092 /climblab \u4e0b\u3067\u5b9f\u884c\u3059\u308b\uff0e","title":"ROS"},{"location":"ros/#4-how-to-execute-simulation","text":"ClimbLab\u306fMATLAB\u3067\u8a18\u8ff0\u3055\u308c\u3066\u304a\u308a\uff0c\u5b9f\u884c\u306b\u306fMATALB\u3092\u4f7f\u7528\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e\u52d5\u4f5c\u78ba\u8a8d\u304c\u304a\u3053\u306a\u308f\u308c\u3066\u3044\u308bMATLAB\u306e\u30d0\u30fc\u30b8\u30e7\u30f3\u306f\uff0c\u672c\u8ad6\u6587\u57f7\u7b46\u6642(2022\u5e742\u67081\u65e5)\u306b\u304a\u3044\u3066\uff0cMATLAB R2019b\u3067\u3042\u308b\uff0e\u3088\u3063\u3066\uff0c\u5b9f\u884c\u306b\u306fR2019b\u4ee5\u964d\u306eMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u304c\u5fc5\u8981\u3067\u3042\u308b\uff0e\u307e\u305f\uff0cMATLAB Toolbox\u306b\u3064\u3044\u3066\u306f\uff0c\u57fa\u672c\u7684\u306b\u5fc5\u8981\u3068\u3057\u306a\u3044\u304c\uff0c\u3054\u304f\u4e00\u90e8\u306e\u6a5f\u80fd\u306b\u3064\u3044\u3066\u4ee5\u4e0b\u306eToolbox\uff1a Optimization Toolbox Robotics Toolbox Signal Processing Toolbox Reinforcement Learning Toolbox Deep Learning Toolbox \u304c\u4f7f\u7528\u3055\u308c\u308b\u305f\u3081\uff0c\u5fc5\u8981\u306a\u5834\u5408\u306f\u9069\u5b9c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u5fc5\u8981\u304c\u3042\u308b\uff0e","title":"4. How to Execute Simulation"},{"location":"ros/#41-how-to-execute-main_simm","text":"main_sim.m \u3092\u5b9f\u884c\u3057\uff0c\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u304a\u3053\u306a\u3046\u624b\u9806\u306b\u3064\u3044\u3066\u8ff0\u3079\u308b\uff0e\u306a\u304a\uff0c\u5148\u306b\u8ff0\u3079\u305fMATLAB\u304c\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3055\u308c\u3066\u3044\u308b\u74b0\u5883\u3092\u524d\u63d0\u3068\u3059\u308b\uff0e \u307e\u305a\u57fa\u672c\u8a2d\u5b9a\u3067\u3042\u308b\"default\"\u3067\u5b9f\u884c\u3059\u308b\u5834\u5408\u306f\uff0c GitHub\u3084BitBucket\u304b\u3089ClimbLab\u3092\u30c0\u30a6\u30f3\u30ed\u30fc\u30c9\u3059\u308b\uff0e MATLAB\u3092\u958b\u304f\uff0e \u30d5\u30a9\u30eb\u30c0/climblab/src\u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b main_sim.m \u3092\u958b\u304f\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u304c\"default\"\u306b\u8a2d\u5b9a\u3055\u308c\u3066\u3044\u308b\u3053\u3068\u3092\u78ba\u8a8d\u3059\u308b\uff0e MATLAB\u5185\u306e\u300c\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u300d\u3092 /climblab \u306b\u3059\u308b\uff0e main\\_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u5b9f\u884c\u5f8c\uff0c\u300cmain_sim.m\u306f\u73fe\u5728\u306e\u30d5\u30a9\u30eb\u30c0\u30fc\u3084MATLAB\u30d1\u30b9\u4e0a\u3067\u898b\u3064\u304b\u308a\u307e\u305b\u3093\uff0e\u300d\u3068\u3044\u3046\u30a8\u30e9\u30fc\u304c\u51fa\u305f\u5834\u5408\u306f\uff0c\u300c\u30d1\u30b9\u306b\u8ffd\u52a0\u300d\u3092\u9078\u629e\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u306b\u3088\u3063\u3066\u6b69\u884c\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u304c\u958b\u59cb\u3055\u308c\u308b\uff0e \u307e\u305f\u3053\u306e\"default\"\u304b\u3089\u81ea\u5206\u7528\u306b\u65b0\u305f\u306b\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u8a66\u3059\u5834\u5408\u306b\u306f\uff0c \u30d5\u30a9\u30eb\u30c0 /climblab/config/USER \u4e0b\u306b\u304a\u304b\u308c\u3066\u3044\u308b config\\_USER\\_param\\_template.m \u3092\u30b3\u30d4\u30fc\u3057\uff0c\u540c\u3058\u30d5\u30a9\u30eb\u30c0\u306b\uff0c config_USER_param.m \u3068\u540d\u524d\u3092\u5909\u3048\u3066\u4f5c\u6210\u3059\u308b\uff0e config_USER_param.m \u5185\u306b\uff0cdefault\u304b\u3089\u5909\u66f4\u3057\u305f\u3044\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u8a2d\u5b9a\u3092\u66f8\u304d\u52a0\u3048\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"default\"\u304b\u3089\"USER\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim.m \u3092\u5b9f\u884c\u3059\u308b\uff0e \u3068\u3044\u3046\u624b\u9806\u3067\u8a2d\u5b9a\u3092\u5909\u66f4\u3057\u3066\u30b7\u30df\u30e5\u30ec\u30fc\u30b7\u30e7\u30f3\u3092\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e\u5909\u66f4\u3067\u304d\u308b\u8a2d\u5b9a\u306f\uff0c\u30d5\u30a9\u30eb\u30c0 config/default \u306b\u7f6e\u304b\u308c\u3066\u3044\u308b\u5404class\u306e\u521d\u671f\u8a2d\u5b9a\u7528\u306e\u95a2\u6570\u306e\u4e2d\u8eab\u3092\u898b\u308b\u3053\u3068\u3067\u78ba\u8a8d\u3067\u304d\u308b\uff0e \u307e\u305f\uff0c\u81ea\u5206\u304c\u958b\u767a\u3092\u9032\u3081\u308b\u4e2d\u3067\uff0c\u8a2d\u5b9a\u3092\u534a\u6c38\u7d9a\u7684\u306b\u4fdd\u5b58\u3057\u3066\u304a\u304d\u305f\u3044config\u30d5\u30a1\u30a4\u30eb\u304c\u3042\u308b\u5834\u5408\u306f\uff0cpreset\u3068\u3057\u3066\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u6210\u3059\u308b\uff0e\u4e00\u65b9\u3067\uff0c\u81ea\u5206\u304c\u958b\u767a\u3057\u305f\u308f\u3051\u3067\u306f\u306a\u3044\u65e2\u5b58\u306epreset\u306b\u3064\u3044\u3066\u306f\u57fa\u672c\u7684\u306b\u7de8\u96c6\u3057\u3066\u306f\u3044\u3051\u306a\u3044\uff0e\u3053\u308c\u3089\u306epreset\u306b\u306f\u8ad6\u6587\u306a\u3069\u3067\u5bfe\u5916\u7684\u306b\u793a\u3057\u305f\u7d50\u679c\u3092\u4fdd\u5b58\u3057\u3066\u304a\u304f\u3079\u304d\u3082\u306e\u3082\u3042\u308b\u306e\u3067\uff0c\u7de8\u96c6\u3059\u308b\u969b\u306f\u958b\u767a\u8005\u3084\u30c1\u30fc\u30e0\u3068\u8a71\u3057\u5408\u3046\u5fc5\u8981\u304c\u3042\u308b\uff0epreset\u306e\u4f5c\u6210\u624b\u9806\u3092\u4ee5\u4e0b\u306b\u793a\u3059\uff0e config/preset \u4e0b\u306b\uff0c config_xxx_param.m \u3068\u3044\u3046\u81ea\u5206\u306econfig\u30d5\u30a1\u30a4\u30eb\u3092\u4f5c\u308b\uff0e xxx \u306f\u4efb\u610f\u3060\u304c\uff0c config_ \u3067\u59cb\u307e\u308a\uff0c _param \u3067\u7d42\u308f\u308b\u3088\u3046\u306b\u547d\u540d\u3059\u308b\uff0e config_xxx_param.m \u306e\u5185\u90e8\u306b\u81ea\u5206\u306e\u30d1\u30e9\u30e1\u30fc\u30bf\u3092\u8a2d\u5b9a\u3059\u308b\uff0e main_sim\u5185\u3067 `config = \u2018xxx\u2019; \u3068\u8a2d\u5b9a\u3059\u308b\uff0e config_simulation\u5185\u3067\u4e00\u756a\u4e0b\u306b\uff0c if strcmp(config, \u2018xxx\u2019) [... ] = config_xxx_param(....); end \u3068\u65b0\u3057\u304f\u8a18\u8ff0\u3057\u3066\uff0c\u4f5c\u6210\u3057\u305fconfig\u30d5\u30a1\u30a4\u30eb\u3092load\u3067\u304d\u308b\u3088\u3046\u306b\u3059\u308b\uff0e main_sim.m \u5185\u3067\u4f7f\u7528\u3059\u308bconfig\u3092\"xxx\"\u306b\u5909\u66f4\u3059\u308b\uff0e main_sim \u3092 /climblab \u4e0b\u3067\u5b9f\u884c\u3059\u308b\uff0e","title":"4.1 How to execute main_sim.m"},{"location":"top/","text":"SpaceDyn User Manual Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital@grp.tohoku.ac.jp The climbing simulator is being developed by the Climbing Robotics Team in Space Robotics Laboratory at Tohoku University, Japan. The source code is released under a BSD 3-Clause license . This developpers manual is originally written in Google Document and maintained in SRL-Limb's shared drive . Reference Note If you use this simulator in an academic context, please put the following citation. Uno K. et al. (2022) ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics. In: Chugo D., Tokhi M.O., Silva M.F., Nakamura T., Goher K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_20 1 2 3 4 5 6 7 8 @inproceedings { uno2021climblab , title = { ClimbLab : MATLAB Simulation Platform for Legged Climbing Robotics } , author = { Kentaro Uno and Warley F . R . Ribeiro and Yusuke Koizumi and Keigo Haji and Koki Kurihara and William Jones and Kazuya Yoshida } , booktitle = { Robotics for Sustainable Future } , pages = { 229 -- 241 } , year = { 2022 } , publisher = \"Springer International Publishing\" , } Release note The version of this manual is synchronized with the version of ClimbLab simulator. Since this online manual is deployed since the v4.0, the oldest version is v4.0. v4.0: released on 2021. First released version.","title":"Top"},{"location":"top/#spacedyn-user-manual","text":"Author(s) and maintainer(s): Space Robotics Lab. Contact email: srl-orbital@grp.tohoku.ac.jp The climbing simulator is being developed by the Climbing Robotics Team in Space Robotics Laboratory at Tohoku University, Japan. The source code is released under a BSD 3-Clause license . This developpers manual is originally written in Google Document and maintained in SRL-Limb's shared drive .","title":"SpaceDyn User Manual"},{"location":"top/#reference","text":"Note If you use this simulator in an academic context, please put the following citation. Uno K. et al. (2022) ClimbLab: MATLAB Simulation Platform for Legged Climbing Robotics. In: Chugo D., Tokhi M.O., Silva M.F., Nakamura T., Goher K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_20 1 2 3 4 5 6 7 8 @inproceedings { uno2021climblab , title = { ClimbLab : MATLAB Simulation Platform for Legged Climbing Robotics } , author = { Kentaro Uno and Warley F . R . Ribeiro and Yusuke Koizumi and Keigo Haji and Koki Kurihara and William Jones and Kazuya Yoshida } , booktitle = { Robotics for Sustainable Future } , pages = { 229 -- 241 } , year = { 2022 } , publisher = \"Springer International Publishing\" , }","title":"Reference"},{"location":"top/#release-note","text":"The version of this manual is synchronized with the version of ClimbLab simulator. Since this online manual is deployed since the v4.0, the oldest version is v4.0. v4.0: released on 2021. First released version.","title":"Release note"}]} \ No newline at end of file