From Human Motion to Humanoid Control Lab

Explanation steps for using the simulation

Setup

• The following instructions were last tested using Windows 10, MATLAB 2020 on December 17th, 2020.
• Clone the repository of the project in a desired folder from here: https://github.com/imstevenpm/HMHC_Lab2020.git
• Open MATLAB and be sure to change the working directory to the folder that has the files cloned and the script called main.

Running the program

• Before running the main script, choose your desired motion by changing the i value on line 29.
• Choose the desired visualization on line 50 or 51 and comment the other one.
• Run the main.m script from the MATLAB command line.
• While the figures appear, press a key when asked in the MATLAB command line.
• When the two graphs appear, choose the initial and final point of the first graph and then try to choose the same initial and final point in the second graph.
• The visualization and ground reactions will be plotted.
• For continue to the next motion, press a key when asked or exit the program by pressing CTRL+C

Authors

• Steven Palma Morera: imstevenpm.study@gmail.com