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PARAMETERS_LFoot.m
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PARAMETERS_LFoot.m
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% %
% NAO robot kinematic model %
% with masses %
% %
% Model from Louise Poubel Thesis 2013 %
% %
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
% Parametrized w.r.t. the RFoot
%
% NAO H25 V4.0
%
% Parameters from http://www.aldebaran-robotics.com/documentation/family/nao_h25/index_h25.html
% % Lengths from NAO documentation
% FootHeight = 45.19; % V3.2 = 45.11
% TibiaLength = 102.9; % V3.2 = V3.3
% ThighLength = 100; % V3.2 = V3.3
% HipOffsetZ = 85; % V3.2 = V3.3
% HipOffsetY = 50; % V3.2 = V3.3
% ShoulderOffsetZ = 100; % V3.2 = V3.3
% ShoulderOffsetY = 98; % V3.2 = V3.3
% UpperArmLength = 105; % V3.2 = 90
% ElbowOffsetY = 15;% V3.2 = 0
% LowerArmLength = 55.95; % V3.2 = 50.55
% HandOffsetX = 57.75; % V3.2 = 58
% HandOffsetZ = 12.31;
% NeckOffsetZ = 126.5; % V3.2 = V3.3
% Lengths from NAO documentation
FootHeight = 45.19*10^-3; % V3.2 = 45.11
TibiaLength = 102.9*10^-3; % V3.2 = V3.3
ThighLength = 100*10^-3; % V3.2 = V3.3
HipOffsetZ = 85*10^-3; % V3.2 = V3.3
HipOffsetY = 50*10^-3; % V3.2 = V3.3
ShoulderOffsetZ = 100*10^-3; % V3.2 = V3.3
ShoulderOffsetY = 98*10^-3; % V3.2 = V3.3
UpperArmLength = 105*10^-3; % V3.2 = 90
ElbowOffsetY = 15*10^-3;% V3.2 = 0
LowerArmLength = 55.95*10^-3; % V3.2 = 50.55
HandOffsetX = 57.75*10^-3; % V3.2 = 58
HandOffsetZ = 12.31*10^-3;
NeckOffsetZ = 126.5*10^-3; % V3.2 = V3.3
% M-DH parameters
a = [0,...
1,...
2,...
3,...
4,...
5,...
6,...
7,...
8,...
9,...
10,...
11,...
12,...
13,...
7,...
15,...
16,...
17,...
18,...
19,...
7,...
21,...
22,...
23,...
24,...
25,...
7,...
27];
sigma = [0,...
0,...
0,...
0,...
0,...
0,...
2,...
0,...
0,...
0,...
0,...
0,...
0,...
2,...
0,...
0,...
0,...
0,...
0,...
2,...
0,...
0,...
0,...
0,...
0,...
2,...
0,...
0];
gamma = [-pi/2,...
0,...
0,...
0,...
0,...
0,...
-pi/2,...
0,...
0,...
0,...
0,...
0,...
0,...
0,...
0,...
0,...
0,...
0,...
0,...
0,...
0,...
0,...
0,...
0,...
0,...
0,...
0,...
0];
b = [FootHeight,...
0,...
0,...
0,...
0,...
0,...
(HipOffsetY^2+HipOffsetY^2)^(1/2),...
-(HipOffsetZ-HipOffsetY),...
0,...
0,...
0,...
0,...
0,...
0,...
ShoulderOffsetZ,...
0,...
0,...
0,...
0,...
HandOffsetX,...
ShoulderOffsetZ,...
0,...
0,...
0,...
0,...
HandOffsetX,...
0,...
0];
alpha = [-pi/2,...
pi/2,...
0,...
0,...
-pi/2,...
-pi/2,...
-pi/4,...
3*pi/4,...
pi/2,...
pi/2,...
0,...
0,...
-pi/2,...
pi/2,...
-pi/2,...
pi/2,...
pi/2,...
-pi/2,...
pi/2,...
-pi/2,...
-pi/2,...
pi/2,...
pi/2,...
-pi/2,...
pi/2,...
-pi/2,...
0,...
-pi/2];
d = [0,...
0,...
TibiaLength,...
ThighLength,...
0,...
0,...
0,...
0,...
0,...
0,...
-ThighLength,...
-TibiaLength,...
0,...
0,...
0,...
0,...
-ElbowOffsetY,...
0,...
0,...
0,...
0,...
0,...
ElbowOffsetY,...
0,...
0,...
0,...
0,...
0];
theta = [-pi/2-q(1),...
-q(2),...
-q(3),...
-q(4),...
-pi/4-q(5),...
q(6),...
0,...
pi/2-q(6),...
-pi/4+q(7),...
q(8),...
q(9),...
q(10),...
pi/2+q(11),...
pi/2,...
q(12),...
pi/2+q(13),...
q(14),...
q(15),...
q(16),...
-pi/2,...
q(17),...
pi/2+q(18),...
q(19),...
q(20),...
q(21),...
-pi/2,...
q(22),...
-pi/2+q(23)];
r = [0,...
0,...
0,...
0,...
0,...
0,...
HipOffsetZ-HipOffsetY,...
(HipOffsetY^2+HipOffsetY^2)^(1/2),...
0,...
0,...
0,...
0,...
0,...
-FootHeight,...
-ShoulderOffsetY,...
0,...
UpperArmLength,...
0,...
LowerArmLength,...
-HandOffsetZ,...
ShoulderOffsetY,...
0,...
UpperArmLength,...
0,...
LowerArmLength,...
-HandOffsetZ,...
NeckOffsetZ,...
0];
% w.r.t 0
for j = 1:length(a);
T(:,:,j) = dgmgenstructure(a,gamma,b,alpha,d,theta,r,0,j);
end
% Masses -- order from LFoot
%
% % Each mass is expressed on its DOF's frame, with Aldebaran's orientation
% % Body: V3.3, Head: V4.0 -- Totally different from V3.2
% m = [0.16184,... % LAnkleRoll
% 0.13416,... % LAnklePitch
% 0.29142,... % LKneePitch
% 0.38968,... % LHipPitch !!!!!!!!!!!!!!!!!! The real robot says 0.39798 but the documentation says 0.39421
% 0.13053,... % LHipRoll
% 0.06981,... % LHipYawPitch
% 1.04956,... % Torso
% 0.07118,... % RHipYawPitch
% 0.13053,... % RHipRoll
% 0.38976,... % RHipPitch !!!!!!!!!!!!!!!!!! The real robot says 0.39798 but the documentation says 0.39421
% 0.29163,... % RKneePitch
% 0.13415,... % RAnklePitch
% 0.16171,... % RAnkleRoll
% 0,...
% 0.07504,... % RShoulderPitch
% 0.15794,... % RShoulderRoll
% 0.06483,... % RElbowYaw
% 0.07778,... % RElbowRoll
% 0.18533,... % RWristYaw
% 0,...
% 0.07504,... % LShoulderPitch
% 0.15777,... % LShoulderRoll
% 0.06483,... % LElbowYaw
% 0.07761,... % LElbowRoll
% 0.18533,... % LWristYaw
% 0,...
% 0.06442,... % HeadYaw
% 0.60533]; % HeadPitch
% M = sum(m);
%
% % Each mass in its own frame
% % SX, SY and SZ, but expressed in Aldebaran's frames
% c = [ +0.02542, +0.00330, -0.03239;... % LAnkleRoll
% +0.00045, +0.00029, +0.00685;... % LAnklePitch
% +0.00453, +0.00225, -0.04936;... % LKneePitch
% +0.00138, +0.00221, -0.05373;... % LHipPitch
% -0.01549, +0.00029, -0.00515;... % LHipRoll
% -0.00781, -0.01114, +0.02661;... % LHipYawPitch
% -0.00413, +0.00009, +0.04342;... % Torso
% -0.00766, +0.01200, +0.02716;... % RHipYawPitch
% -0.01549, -0.00029, -0.00516;... % RHipRoll
% +0.00139, -0.00225, -0.05374;... % RHipPitch
% +0.00394, -0.00221, -0.04938;... % RKneePitch
% +0.00045, -0.00030, +0.00684;... % RAnklePitch
% +0.02540, -0.00332, -0.03239;... % RAnkleRoll
% NaN, NaN, NaN;...
% -0.00165, +0.02663, +0.00014;... % RShoulderPitch
% +0.02429, -0.00952, +0.00320;... % RShoulderRoll
% -0.02744, +0.00000, -0.00014;... % RElbowYaw
% +0.02552, -0.00281, +0.00090;... % RElbowRoll
% +0.03434, -0.00088, +0.00308;... % RWristYaw
% NaN, NaN, NaN;...
% -0.00165, -0.02663, +0.00014;... % LShoulderPitch
% +0.02455, +0.00563, +0.00330;... % LShoulderRoll
% -0.02744, -0.00000, -0.00014;... % LElbowYaw
% +0.02556, +0.00281, +0.00076;... % LElbowRoll
% +0.03434, -0.00088, +0.00308;... % LWristYaw
% NaN, NaN, NaN;...
% -0.00001, +0.00014, -0.02742;... % HeadYaw
% -0.00112, +0.00003, +0.05258]; % HeadPitch
%
% c = c*1000;
%
%
% % LFoot's mass is on frame zero.
% c_0_0 = [c(1,1),c(1,2),c(1,3)+FootHeight]; m0 =m(1);
% % Change LLeg's masses to previous frame
% c(1,:) = c(2,:); m(1) = m(2);
% c(2,:) = [c(3,1),c(3,2),c(3,3)+TibiaLength]; m(2) = m(3);
% c(3,:) = [c(4,1),c(4,2),c(4,3)+ThighLength]; m(3) = m(4);
% c(4,:) = c(5,:); m(4) = m(5);
% c(5,:) = c(6,:); m(5) = m(6);
% c(6,:) = [NaN,NaN,NaN]; m(6) = 0;
%
% % Get the position of each CoM w.r.t zero
%
% % Find transforms to rotate the masses
% % The transforms are the rotation which brings the zero position frames
% % (all qs = 0) to Aldebaran's
% q0 = zeros(23);
% theta0 = [-pi/2-q0(1),...
% -q0(2),...
% -q0(3),...
% -q0(4),...
% -pi/4-q0(5),...
% q0(6),...
% 0,...
% pi/2-q0(6),...
% -pi/4+q0(7),...
% q0(8),...
% q0(9),...
% q0(10),...
% pi/2+q0(11),...
% pi/2,...
% q0(12),...
% pi/2+q0(13),...
% q0(14),...
% q0(15),...
% q0(16),...
% -pi/2,...
% q0(17),...
% pi/2+q0(18),...
% q0(19),...
% q0(20),...
% q0(21),...
% -pi/2,...
% q0(22),...
% -pi/2+q0(23)];
%
% % all qs = 0
% for j = 1:length(a);
% T_q0(:,:,j) = dgmgenstructure(a,gamma,b,alpha,d,theta0,r,0,j);
% end
%
%
% % Finally, find all of them w.r.t. 0
% CoM = (m0/M)*c_0_0;
% for j = 1:length(m)
% RotateAltoMine = inv(T_q0(1:3,1:3,j));
% RotateAltoMine = [RotateAltoMine,[0;0;0];0,0,0,1];
%
% % Vector of CoM coordinates w.r.t. own frame
% if c(1) ~= NaN
% S = RotateAltoMine*[transpose(c(j,:));1];
% % First moments
% MX(j) = m(j)*S(1);
% MY(j) = m(j)*S(2);
% MZ(j) = m(j)*S(3);
% % w.r.t. zero
% A = T(:,:,j)*S;
% c_0(j,1:3) = transpose(A(1:3));
% end
%
% if m(j) ~= 0
% CoM=CoM+(m(j)/M)*c_0(j,:);
% end
%
% end
%
%