Index of /Walkin8r/SVNAttic/Favorites

      Name                    Last modified      Size  Description
      Parent Directory                             -   
      orbitA35.gif            2013-05-18 15:57  4.0M  
      orbitA2.gif             2013-05-18 16:56  3.9M  
      KlannMaxima1.dat        2013-05-10 08:41  9.8K  
      J59s92f07r14hp19.png    2013-05-13 14:59   55K  
      J59s88f07r18hp21.png    2013-05-13 15:00   55K  
      J59s84f07r16hp21.png    2013-05-13 14:59   54K  
      J58s99f04r22hp21.png    2013-05-13 15:01   52K  
      J58s92f05r21hp23.png    2013-05-13 15:01   53K  
      J58s89f05r22hp23.png    2013-05-13 15:00   53K  
      J58s85f06r22hp23.png    2013-05-13 15:00   53K  
      J58s82f08r18hp22.png    2013-05-13 14:59   54K  
      J57s96f03r32hp21.png    2013-05-13 09:20   51K  
      J57s95f03r33hp22.png    2013-05-13 15:02   51K  
      J57s88f03r35hp25.png    2013-05-13 08:22   51K  
      J57s76f06r29hp28.png    2013-05-13 09:20   52K  
      J57s073f07r26hp27.png   2013-05-13 07:48   51K  
      J56s86f03r42hp25.png    2013-05-13 09:31   49K  
      J56s73f03r47hp26.png    2013-05-13 15:31   47K  
      J56s70f03r34hp29.png    2013-05-13 15:30   48K  
      J56s064f07r34h15.png    2013-05-14 06:09   53K  
      J55s71f03r59hp23.png    2013-05-13 16:22   46K  
      J55s57f10r15hp22.png    2013-05-13 14:55   55K  
      J53s63f04r63hp22.png    2013-05-13 15:46   35K  
      J52s46f10r30hp24.png    2013-05-13 08:32   48K  
      Aopt0042.png            2013-05-17 07:21   51K  
      Aopt0039.png            2013-05-17 07:21   52K  
      Aopt0035.png            2013-05-18 15:56   54K  
      Aopt0033.png            2013-05-17 07:21   58K  
      Aopt0030.png            2013-05-17 07:21   53K  
      Aopt0010.png            2013-05-17 07:21   55K  
      Aopt0000.png            2013-05-17 07:21   55K
Selected Optimized Linkage Configurations
$URL: svn+ssh://aaron@birenboim.com/home/users/svn/Jansen/trunk/Favorites/README.html $
$Id: README.html 73 2013-05-18 15:23:58Z aaron $

Selected Optimized Linkage Configurations

An optimizer, with some simulated annealing, was run on the Jansen linkage. The metric is still being played with, but the statistics reported at the top of each linkage plot are fairly consistant.
duty
Duty cycle when foot is on (or near) ground, in percent.
speedSD
St.Dev. of each foot delta-x when walking, multiplied by number of steps (to keep it invariant w.r.t. no steps analysed) (less is better)
flatSD
St.Dev. of foot height durring walking cycle. (less is better)
reach
Minimum cm/m foot position from central axis.
stepHeight
Usually the peak of the foot height above ground. Later experiments are trying to use the median foot height above ground on the return cycle.

Later versions used a similarity of the footpath to a tank tread as a quality indicator (trackSD) instead of the flatness and footspeed (flatSD, speedSD). This proved to be a more reliable metric for generating reasonable optimized linkages.

The numbers across the bottom are the linkage lengths. See top page Jansen linkage drawing for definition of hinges/linkage names. The linkages shown are normalized for a 17.5 cm crank length (AC). The remaining measurements, shown at the bottom of the plot are

   Ay Bx BD BE BH CD CH DE EF FG FH GH
respectively.

Klann Linkage

The numbers across the bottom of optimized Klann linkage plots are
     Bx By Dx Dy BH CF CH DE EF EG FG FH
respectively, for a linkage normalized to a crank length (AC) of 17.5.
Last modified: Tue May 14 10:36:35 MDT 2013