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Calculate the stability properties of polypedal systems
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swilshin/staticstab
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A library for calculating static stability metrics of walking systems written by Simon Wilshin, swilshin@gmail.com, Mar 2016. This work was completed with support from the Royal Veterinary College, London (www.rvc.ac.uk). Full documentation is provided by epydoc, a script for producing this documentation on linux systems is provided (epydoc.sh). Demo programs compute the foot placements of a spider and demonstrate the ability to construct the convex hull of the feet in contact with the ground (staticstab/examples/demo.py), to calculate the longitudinal stability[1] of walks close to trot (staticstab/examples/mfmargins.py), to calculate the stability difference between a quadruped using a forward and backward walking gait, and to produce a video of a X-RHEX[2] type robot walking forward and backward with convex hull. [1] McGhee, Robert B., and Frank, Andrew A. "On the stability properties of quadruped creeping gaits." Mathematical Biosciences 3 (1968): 331-351. [2] Kevin C. Galloway, G. C. Haynes, B. Deniz Ilhan, Aaron M. Johnson, Ryan Knopf, Goran Lynch, Benjamin Plotnick, Mackenzie White and D. E. Koditschek X-RHex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks, University of Pennsylvania Technical Report (2010) This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>.
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