Biped Robot Á¦ÀÛ
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1 °³¿ä 4
2 ±¸¼º 4
2.1 Çϵå¿þ¾î ±¸¼º 4
2.2 ½Ã½ºÅÛ ±¸¼º 9
3 ·Îº¿ °È±â µ¿ÀÛ 10
3.1 Right Up Step 10
3.2 Go Right Step 10
3.3 Right Down Step 10
3.4 Left Up Step, Go Left Step, Left Down Step 10
3.5 ±âŸ 10
4 Real Time Linux Task 11
4.1 °¢µµ ¼¾¼ üũ 11
4.1.1 ±âº» ¾Ë°í¸®Áò 11
4.1.2 ¿¡·¯ Detection 12
4.1.3 ÄÚµå ¼³¸í 13
4.2 ·Îº¿ °È±â Task 18
4.2.1 robotControl Task 18
4.2.2 doRightFootMotion ÇÔ¼ö 19
4.2.3 leftFoot, rightFoot ÇÔ¼ö 20
4.3 UserApplication°ú Åë½Å 21
4.3.1 FIFO»ý¼º ¹× Çڵ鷯 µî·Ï 21
4.3.2 ÇÚµé·Î µ¿ÀÛ(UserCmdProcess ÇÔ¼ö) 22
5 User Application 23
5.1 Main ¹× ÃʱâÈ 23
5.2 RealTime Task·Î IPC Message 24
5.3 ¼¹ö ¼ÒÄÏ »ý¼º ¹× ClientÁ¢¼Ó ó¸® 25
5.4 Client¸í·É¾î ó¸® 26
6 Java Client UI 27
6.1 CameraView Class 27
6.2 Back¡¦(»ý·«)
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