Differences

This shows you the differences between two versions of the page.

--- ires_journal9 [2018/08/06 02:05] – [Project Status] yuhanghe
+++ ires_journal9 [2018/08/06 02:27] (current) – [Project Status] yuhanghe
@@ Line 35: / Line 35: @@
 {{:yuhang:ires2018:demo1.mp4|}}
+As seen from the video, the imitation is not perfect. In the beginning, the left shoulder yaw motor rotated to an undesirable position. That is because the left arm was outside of mocap area in the beginning. Another major difference is the speed of motion. The joint angle data was calculated at 0.010 ms. The real time thread on Hubo 2's PC runs at 0.010 ms interval. Some delay between actual execution of motion accumulated overtime and resulted in the delay.