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--- a/appendix/index.html
+++ b/appendix/index.html
@@ -89,196 +89,11 @@
           <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
             <div class="section" itemprop="articleBody">
               
-                <h2 id="5-folder-tree">5. Folder Tree</h2>
-<p>本章では，ClimbLabのフォルダ構成と関数の置き場所を示す．なお，太字はフォルダ名を表す．本章を軽く一読することで，ClimbLab全体の構造を把握することできる．また，新たな関数やファイルを作成する場合には，このフォルダ構成を参考に適切な場所に配置すること．</p>
-<p>** climblab/ **</p>
-<ul>
-<li>
-<p>config config関数群一式を保存するフォルダ</p>
-<ul>
-<li>
-<p><strong>default</strong> : configのdefault用関数群</p>
-</li>
-<li>
-<p><strong>preset</strong> : これまでの開発に使われたconfiguration関数群</p>
-</li>
-<li>
-<p><strong>USER</strong> : 変数上書き用USER config関数とそのテンプレート</p>
-</li>
-<li>
-<p><code>config_simulation.m</code> : シミュレーションのconfigを設定する大元の関数</p>
-</li>
-<li>
-<p><code>config_all_default_param.m</code> : defaultのなかのconfigファイル群を実行する関数</p>
-</li>
-</ul>
-</li>
-<li>
-<p><strong>dat</strong> : dataフォルダーの意．実行したシミュレーションのログや動画の保存先</p>
-</li>
-<li>
-<p><strong>docs</strong> </p>
-<ul>
-<li>
-<p>media : 対外用に使用する画像・gifの保存場所</p>
-</li>
-<li>
-<p>mkdocs : 本マニュアルの保存場所</p>
-</li>
-</ul>
-</li>
-<li>
-<p><strong>lib</strong> : ClimbLabで使用している関数の中で，脚型ロボットの歩行のみならず他の分野への汎用性も高い関数群を保存する場所</p>
-<ul>
-<li>
-<p><strong>equ_gia</strong> : GIA安定領域についての計算に関わる関数一式</p>
-</li>
-<li>
-<p><strong>spacedyn_v2r0</strong> : SpaceDynの関数一式</p>
-</li>
-<li>
-<p><strong>MATLAB Reference</strong> : 各関数の役割について，html形式で見やすくまとめられたもの</p>
-</li>
-<li>
-<p>target_detection : 把持候補点検出に関わる関数一式</p>
-</li>
-<li>
-<p>回転行列を計算するだけの関数群 : <code>rot_2xy.m</code>, <code>rot_x.m</code>, <code>rot_y.m, rot_z.m</code></p>
-</li>
-</ul>
-</li>
-<li>
-<p><strong>src</strong> : 脚型クライミングロボットの歩行シミュレーションに特化して開発されてきた関数群．下位の構成フォルダの数が多いので，src以下にのみ項目をわけて，次に改めて記す．</p>
-</li>
-</ul>
-<p><br></p>
-<p><strong>climblab/src/</strong></p>
-<ul>
-<li>
-<p><strong>controller</strong> : ループ内で使用される歩容計画に関わる重要な関数の多くが置かれている</p>
-<ul>
-<li>
-<p><strong>control</strong> : 関節トルクを制御するための関数を収容</p>
-</li>
-<li>
-<p><strong>equilibrium</strong> : 安定性解析に関わる関数を収容．</p>
-</li>
-<li>
-<p><strong>gait</strong> : 歩容計画に関わる一連の関数群を収容．実行される順番に従って下位フォルダに番号が振られている．各フォルダ内に，各歩容計画タイプに応じた関数ファイルが入っている．</p>
-<ul>
-<li>
-<p><strong>0_upd_graspable_points_in_reachable_area</strong> : 可動範囲内の把持候補点の位置取得</p>
-</li>
-<li>
-<p><strong>1_upd_swing_num</strong> : 遊脚の選定をする関数</p>
-</li>
-<li>
-<p><strong>2_upd_swing_next_pos</strong> : 次の遊脚の接地点(把持点)を決定する関数</p>
-</li>
-<li>
-<p><strong>3_upd_base_next_pos</strong> : ベースの移動位置を決定する関数</p>
-</li>
-<li>
-<p><strong>4_upd_kinematic_feasibility</strong> : 次の遊脚・把持点・ベース位置が逆運動学的に可能か判定する関数</p>
-</li>
-<li>
-<p>**5_upd_gait_history : 歩容計画の結果を保存する関数</p>
-</li>
-<li>
-<p><code>ini_gait.m</code> : 歩容計画に関わる変数の初期設定をおこなう関数</p>
-</li>
-<li>
-<p><code>upd_gait_planning.m</code> : 歩容計画の関数群のおおもとであり，<code>main_sim</code>のループ内で実行される歩容計画パラメータ更新の関数</p>
-</li>
-</ul>
-</li>
-<li>
-<p><strong>global path plan</strong> : 大局的経路計画に関する関数群を収容．</p>
-</li>
-<li>
-<p><strong>local_path_plan</strong> : 局所的経路計画に関する関数を収容</p>
-</li>
-<li>
-<p><strong>motion</strong> : ベースの動き・脚の軌道を生成・制御する関数群を収容．</p>
-</li>
-<li>
-<p><strong>tools</strong> : 順運動学の関数と，歩容に関わるmap情報を取得する関数が収容</p>
-</li>
-<li>
-<p><code>upd_grasp_detach.m</code> : グリッパの滑落を判定して更新する関数</p>
-</li>
-</ul>
-</li>
-<li>
-<p><strong>engine</strong> : ロボットにかかる外力の計算や外部との接触モデルに関わる関数．</p>
-</li>
-<li>
-<p><strong>environment</strong></p>
-<ul>
-<li>
-<p><strong>climbing_holds_map</strong> : ボルダリングホールドを用いた地形情報の保管場所</p>
-</li>
-<li>
-<p><strong>grid_map</strong> : グリッド形式の生成した地形情報の保管場所</p>
-</li>
-<li>
-<p><strong>terrain_map</strong> : 実地形マップの保管場所</p>
-</li>
-<li>
-<p><strong>uneven_map</strong> : フラクタルを利用した不整地マップの保管場所</p>
-</li>
-<li>
-<p><code>map_grid_desingner.m</code> : グリッド形式のマップの生成をする実行ファイル</p>
-</li>
-<li>
-<p>地形情報・シミュレーション環境に関するinitialize関数群 : <code>ini_environment.m</code>, <code>ini_surface.m</code>, <code>ini_graspable_points.m</code></p>
-</li>
-<li>
-<p><code>map_format_conversion.m</code> : RealSenseカメラで取得してPCDから3×N行列とした点群情報を，座標変換・線形補間してグリッド形式に変換する関数．</p>
-</li>
-</ul>
-</li>
-<li>
-<p><strong>misc</strong> : 未分類の関数群．データ保存に関わるsave関数などが置かれている．</p>
-</li>
-<li>
-<p><strong>robot</strong> : ロボットモデルの定義やその初期設定・解析を行う関数を収容．</p>
-<ul>
-<li>
-<p><strong>LP_analysis</strong> : ロボットのリンクパラメータ(LP)から脚先可動範囲を描画する関数</p>
-</li>
-<li>
-<p><code>ini_12DOF_SV.m</code>, <code>ini_nDOF_SV.m</code>: 設定されたロボットの自由度にもとづき状態変数(SV)を設定する関数</p>
-</li>
-<li>
-<p><code>ini_(Robot名)関数群</code> : 各ロボットのLPを内部で指定してメインに読み込む</p>
-</li>
-<li>
-<p><code>ini_joint_angle.m</code></p>
-</li>
-<li>
-<p><code>ini_reachable_area.m</code></p>
-</li>
-<li>
-<p><code>ini_robot.m</code></p>
-</li>
-</ul>
-</li>
-<li>
-<p><strong>sensing</strong> : カメラやセンサにもとづくセンシングに関連するini_,upd_関数群を主要</p>
-</li>
-<li>
-<p><strong>visualization</strong> : 全てのvisualize関数群の保存場所</p>
-</li>
-<li>
-<p><code>ini_path.m</code> : <code>main_sim.m</code>の実行のために，実行しているフォルダの現在位置確認と，パス設定をおこなう．</p>
-</li>
-<li>
-<p><code>`main_sim.m</code> : ClimbLabの実行ファイル</p>
-</li>
-</ul>
-<p><br></p>
-<p>以上がClimbLabのフォルダ構成の概要である．</p>
+                <h1 id="appendix">Appendix</h1>
+<p>The followings are the representative publications from our team. </p>
+<p>[1] K.Yoshida, The <a href="https://ieeexplore.ieee.org/document/811712">SpaceDyn: a MATLAB toolbox for space and mobile robots</a>, <em>Proc. IEEE/RSJ IROS</em>, pp. 1633--1638, 1999.</p>
+<p>[2] Y. Umetani and K. Yoshida, Resolved motion rate control of space manipulators with generalized Jacobian matrix, <em>IEEE Transactions on Robotics and Automation</em>, vol. 5, no. 3, pp. 303--314, 1989.</p>
+<p>[3] K. Yoshida, A General Formulation for Under-Actuated Manipulators, Proc. 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1651--1657, 1997.</p>
               
             </div>
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diff --git a/index.html b/index.html
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@@ -229,5 +229,5 @@ <h2 id="acknowledgement">Acknowledgement</h2>
 
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+Build Date UTC : 2024-07-15 13:35:47.788210+00:00
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diff --git a/search/search_index.json b/search/search_index.json
index 8708eca..c2da2ba 100644
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-{"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 . 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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 \\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 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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 allow 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 allow 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.","title":"Original User Manual"},{"location":"matlab/#the-spacedyn-a-matlab-toolbox-for-space-and-mobile-robots","text":"We heavily recommend the user to read this manual, which describe the development philosophy and programing rules, to understand the code, deeply.","title":"The Spacedyn - a MATLAB Toolbox for Space and Mobile Robots"},{"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 \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":"Appendix The followings are the representative publications from our team. [1] K.Yoshida, The SpaceDyn: a MATLAB toolbox for space and mobile robots , Proc. IEEE/RSJ IROS , pp. 1633--1638, 1999. [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. [3] K. Yoshida, A General Formulation for Under-Actuated Manipulators, Proc. 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1651--1657, 1997.","title":"Appendix"},{"location":"appendix/#appendix","text":"The followings are the representative publications from our team. [1] K.Yoshida, The SpaceDyn: a MATLAB toolbox for space and mobile robots , Proc. IEEE/RSJ IROS , pp. 1633--1638, 1999. [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. [3] K. Yoshida, A General Formulation for Under-Actuated Manipulators, Proc. 1997 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1651--1657, 1997.","title":"Appendix"},{"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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\u306f\uff0c\u683c\u5b50\u72b6\u306b\u628a\u6301\u70b9\u3092\u914d\u7f6e\u3057\u305f\u30b0\u30ea\u30c3\u30c9\u30de\u30c3\u30d7\u3092\u4f5c\u6210\u3059\u308b\u5b9f\u884c\u30d5\u30a1\u30a4\u30eb\u3067\u3042\u308b\uff0e\u30de\u30c3\u30d7\u306e\u30b5\u30a4\u30ba\u3068\u30b0\u30ea\u30c3\u30c9\u5e45\u3092\u6307\u5b9a\u3059\u308b\u3053\u3068\u3067\uff0c\u30b0\u30ea\u30c3\u30c9\u72b6\u306b\u628a\u6301\u70b9\u3092\u914d\u7f6e\u3057\u3066\u30de\u30c3\u30d7\u3092\u751f\u6210\u3059\u308b\uff0e\u3055\u3089\u306b\uff0c\u6307\u5b9a\u3057\u305f\u5272\u5408\u3060\u3051\u628a\u6301\u70b9\u3092\u30e9\u30f3\u30c0\u30e0\u306b\u9593\u5f15\u3044\u305f\u308a\uff0c\u6307\u5b9a\u3057\u305f\u30a8\u30ea\u30a2\u5185\u306b\u5b58\u5728\u3059\u308b\u628a\u6301\u70b9\u3092\u6d88\u53bb\u3057\u305f\u308a\u3059\u308b\u3053\u3068\u3067\uff0c\u758e\u5bc6\u3055\u3092\u6709\u3059\u308b\u3088\u3046\u306a\u30de\u30c3\u30d7\u3084\u30b4\u30fc\u30eb\u5230\u9054\u306e\u305f\u3081\u306b\u8fc2\u56de\u3092\u8981\u3059\u308b\u3088\u3046\u306a\u30de\u30c3\u30d7\u306a\u3069\u3092\u81ea\u7531\u306b\u8a2d\u8a08\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u308b\uff0e 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 allow 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 allow 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.","title":"Original User Manual"},{"location":"matlab/#the-spacedyn-a-matlab-toolbox-for-space-and-mobile-robots","text":"We heavily recommend the user to read this manual, which describe the development philosophy and programing rules, to understand the code, deeply.","title":"The Spacedyn - a MATLAB Toolbox for Space and Mobile Robots"},{"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"}]}
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