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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

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