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Documentation

Core Reference - Classes, functions, files that comprise Tekkotsu

DualCoding Reference - namespace reference for the DualCoding section of Tekkotsu

Quick Reference sheets (PDF) - ERS-7, ERS-210, ERS-220


We have integrated software packages developed by other groups:
  • ROBOOP - kinematics
  • NEWMAT - matrix calculation package, provides some MATLAB-like functionality
  • CMVision - color segmentation, run length encoding, and region analysis
  • CMPack'02 Walk - CMU's 2002 RoboCup walk engine
  • UPennWalk - walking code
We also provide several packages as precompiled MIPS libraries for linking when developing for the AIBO. When doing local compilation, the host machine's libraries will be used instead.
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CVS status

STABLE
Prototype TeRK and Lynx Motion arm support, revamped particle filter & tutorial, MapBuilder, Pilot, and configuration system (tracker)

Recent ActivitySyndicated

updating todo list (ejt)

Modified: Motion/XWalkMC.cc

adaptive gait reorders leg transition order based on direction of movement (ejt)

This is particularly nice when reversing direction, as gait itself reverses! :)

Modified: Motion/{XWalkMC.cc, XWalkMC.h}

dump template comments at top of file (ejt)

Modified: Motion/XWalkMC.h

now tracking foot position to ensure smooth transitions (ejt)

still may have problems with leg collision or range limitation...

Modified: Motion/{XWalkMC.cc, XWalkMC.h}

IKThreeLink is a go! (ejt)

We'll worry about automatically adapting to other IK solvers later

Modified: Motion/XWalkMC.cc

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Last modified: 2006-09-27