SideLength of Hexagon CoxaBodyCenterOffset

45 BodyCoxaOffsetX 22.5 1
Dimension BodyCoxaOffsetZ 39.0 2
Coxa Length 12.0 BodyCoxaOffset 45.0 3
Femur Length 35.0 4
Tibia Length 72.0 5
Body Display 6
Body X1 Z1 X2 Z2
1 -22.5 39.0 22.5 39.0
2 22.5 39.0 45.0 0.0 Init Feet Position
3 45.0 0.0 22.5 -39.0 Leg Num
4 22.5 -39.0 -22.5 -39.0 FeetPosX (wrt cox
5 -22.5 -39.0 -45.0 0.0 FeetPosY (wrt cox
6 -45.0 0.0 -22.5 39.0 FeetPosZ (wrt cox

Center X Z Y
mm 0 0 72.0
60 150.0

10
100.0
-80 -60 -40 -20 0
-40
50.0
60

0.0
10 -150.0 -100.0 -50.0 0.0 50.0 100.0
-80 -60 -40 -20 0
-40 -50.0

60
-100.0

10

-80 -60 -40 -20 0 -150.0

-40

Gait Setup Conidtions

LegLiftHeight 0 25 Leg Sequence 1 2
TravelLengthX 0 Step=LegNr 0 0
TravelLengthZ 0 32 Step=LegNr+1 0 0
TravelRotationY 0 Step=LegNr-5 0 0

Gait
Leg Sequence 1 2 3 4 5 6
Leg Num 4 1 5 3 6 2
GaitPosX 0 0 0 0 0 0
GaitPosY 0 0 0 0 0 0
GaitPosZ 0 0 0 0 0 0
GaitRotY 0 0 0 0 0 0

For Calculating Gait pos

Gait step 1 2 3 4 5 6
Leg Seque 1 x x 1 2 3 4
2 4 x x 1 2 3
3 3 4 x x 1 2
4 2 3 4 x x 1
5 1 2 3 4 x x
6 x 1 2 3 4 x
 X Z Legs Angles
22.5 39.0 Leg Num
45.0 0.0 Coxa
22.5 -39.0 Femur
-22.5 -39.0 Tibia
-45.0 0.0
-22.5 39.0

et Position
1 2 3 4 5 6 Display Data
23.5 47.0 23.5 -23.5 -47.0 -23.5 Leg Num
72.0 72.0 72.0 72.0 72.0 72.0 LegLengthXZ
40.7 0.0 -40.7 -40.7 0.0 40.7 CoxaStartPosY
CoxaEndPosY
CoxaStartPosXZ
CoxaEndPosXZ
60 FemurStartPosY
FemurEndPosY
FemurStartPosXZ
10 FemurEndPosXZ
0 20 40 60 80 TibiaStartPosY
-40 TibiaEndPosY
TibiaStartPosXZ
60 TibiaEndPosXZ

FeetPosX
50.0 100.0 150.0 10 FeetPosY
0 20 40 60 80 FeetPosZ
-40
Inputs
60 PosX
PosY
PosZ
10

0 20 40 60 80 RotX
-40 RotY
RotZ

3 4 5 6 Gait Step
0 0 0 1
0 0 1 0
0 0 0 0
Cur
4
3
2
1
0
0
 1 2 3 4 5 6
0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 0.0 0.0 0.0
1500.0 1500.0 1500.0 1500.0 1500.0 1500.0
1500.0 1500.0 1500.0 1500.0 1500.0 1500.0
1500.0 1500.0 1500.0 1500.0 1500.0 1500.0

play Data
1 2 3 4 5 6
47.0 47.0 47.0 47.0 47.0 47.0
aStartPosY 72.0 72.0 72.0 72.0 72.0 72.0
aEndPosY 72.0 72.0 72.0 72.0 72.0 72.0
aStartPosXZ 0.0 0.0 0.0 0.0 0.0 0.0
aEndPosXZ 12.0 12.0 12.0 -12.0 -12.0 -12.0
urStartPosY 72.0 72.0 72.0 72.0 72.0 72.0
murEndPosY 72.0 72.0 72.0 72.0 72.0 72.0
urStartPosXZ 12.0 12.0 12.0 -12.0 -12.0 -12.0
murEndPosXZ 47.0 47.0 47.0 -47.0 -47.0 -47.0
aStartPosY 72.0 72.0 72.0 72.0 72.0 72.0
aEndPosY 0.0 0.0 0.0 0.0 0.0 0.0
aStartPosXZ 47.0 47.0 47.0 -47.0 -47.0 -47.0
aEndPosXZ 47.0 47.0 47.0 -47.0 -47.0 -47.0

46.0 92.0 46.0 -46.0 -92.0 -46.0

72.0 72.0 72.0 72.0 72.0 72.0
79.7 0.0 -79.7 -79.7 0.0 79.7
10
10
0 10
0 10
0 10
10
0 10
0 15
0 10

6 6
IK Algor. 2
Body IK
LegNum 1 2
TotalX 46.00 92.00
TotalZ 79.67 0.00
TotalY 72.00 72.00
sin(rotX) 0.00 0.00
cos(rotX) 1.00 1.00
sin(rotZ) 0.00 0.00
cos(rotZ) 1.00 1.00
sin(rotY+rotationY) 0.00 0.00
cos(rotY+rotationY) 1.00 1.00
BodyIkX 0.00 0.00
BodyIkZ 0.00 0.00
BodyIkY 0.00 0.00
New PosX 23.50 47.00
New PosZ 40.70 0.00
New PosY 72.00 72.00
Leg IK
LegNum 1 2
Tranform X 0.00 0.00
Tranform Z 47.00 47.00
Tranform Y 72.00 72.00
CoxaFeetDist 47.00 47.00
IKSW 80.06 80.06
IKA1 0.45 0.45
IKA2 1.12 1.12
TAngle 1.57 1.57
IKTibiaAngle 0.00 0.00
IKFemurAngle 0.00 0.00
IKCoxaAngle 0.00 0.00
GaitStep=GaitLegNr+1
GaitStep=GaitLegNr-5
 3 4 5 6
46.00 -46.00 -92.00 -46.00
-79.67 -79.67 0.00 79.67
72.00 72.00 72.00 72.00
0.00 0.00 0.00 0.00
1.00 1.00 1.00 1.00
0.00 0.00 0.00 0.00
1.00 1.00 1.00 1.00
0.00 0.00 0.00 0.00
1.00 1.00 1.00 1.00
0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00
23.50 -23.50 -47.00 -23.50
-40.70 -40.70 0.00 40.70
72.00 72.00 72.00 72.00

3 4 5 6
0.00 0.00 0.00 0.00
47.00 47.00 47.00 47.00
72.00 72.00 72.00 72.00
47.00 47.00 47.00 47.00
80.06 80.06 80.06 80.06
0.45 0.45 0.45 0.45
1.12 1.12 1.12 1.12
1.57 1.57 1.57 1.57
0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00
0.00 0.00 0.00 0.00