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    文件類型: .rar
    金幣: 2
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    發布日期: 2021-05-18
  • 語言: Matlab
  • 標簽: matlab??

資源簡介

此壓縮包中的內容為此實驗的源程序,即利用matlab編程實現機器人的運動,可以根據需要改變步行的速度以及運動方向。

資源截圖

代碼片段和文件信息

function?walker
%?WALKER??Human?gait.
%?This?model?developed?by?Nikolaus?Troje?is?a?five-term?Fourier?series
%?with?vector-valued?coefficients?that?are?the?principal?components?for
%?data?obtained?in?motion?capture?experiments?involving?subjects?wearing
%?reflective?markers?walking?on?a?treadmill.??The?components?which?are
%?also?known?as?“postures“?or?“eigenwalkers“?correspond?to?the?static
%?position?forward?motion?sideways?sway?and?two?hopping/bouncing
%?movements?that?differ?in?the?phase?relationship?between?the?upper?and
%?lower?portions?of?the?body.??The?postures?are?also?classified?by?gender.
%?Sliders?allow?you?to?vary?the?amount?that?each?component?contributes?to
%?the?overall?motion.??A?slider?setting?greater?than?1.0?overemphasizes
%?the?characteristic.??Can?you?see?whether?positive?values?of?the?gender
%?coefficient?correspond?to?male?or?female?subjects?
%
%?References:
%????http://www.bml.psy.ruhr-uni-bochum.de/Demos
%????http://www.biomotionlab.de/Text/WDP2002_Troje.pdf
%????http://journalofvision.org/2/5/2

clf
shg
set(gcf‘doublebuf‘‘on‘‘color‘‘w‘‘name‘‘Walker‘‘numbertitle‘‘off‘)
set(gca‘pos‘get(gca‘pos‘)+[0?.07?0?0])

%?The?body?is?represented?by?15?points?in?three?space?i.e.?a?vector?of
%?length?45.??The?data?consists?of?F?five?vectors?describing?the?average
%?female?and?M?five?vectors?describing?the?average?male.??Four?linked
%?segments?indexed?by?L?are?the?head?torso?arms?and?legs.

%?Initial?view

load?walkers
X?=?reshape((F(:1)+M(:1))/2153);
L?=?{[1?5][5?12][2?3?4?5?6?7?8][9?10?11?12?13?14?15]};
for?k?=?1:4
???p(k)?=?line(X(L{k}1)X(L{k}2)X(L{k}3)‘marker‘‘o‘?...
??????‘markersize‘10‘linestyle‘‘-‘‘erasemode‘‘background‘);
end
set(p(1)‘tag‘‘head‘‘userdata‘zeros(13));
axis([-750?750?-750?750?0?1500])
set(gca‘xtick‘[]‘ytick‘[]‘ztick‘[])
view(16010)

%?Sliders?and?controls

labels?=?{‘speed‘‘stride‘‘sway‘‘hop‘‘bounce‘‘gender‘};
for?j?=?1:6
???switch?j
??????case?1?smin?=?0;?start?=?1;?smax?=?3;
??????case?6?smin?=?-3;?start?=?0;?smax?=?3;
??????otherwise?smin?=?-2;?start?=?1;?smax?=?2;
???end
???txt?=?uicontrol(‘style‘‘text‘‘string‘sprintf(‘%4.2f‘start)?...
??????‘back‘‘w‘‘units‘‘norm‘‘pos‘[.16*j-.10?.11?.08?.03]);
???sliders(j)?=?uicontrol(‘style‘‘slider‘‘units‘‘norm‘‘back‘‘w‘?...
??????‘pos‘[.16*j-.13?.07?.14?.03]‘min‘smin‘max‘smax‘val‘start?...
??????‘sliderstep‘[1/(4*smax)1/(10*smax)]‘userdata‘txt‘callback‘...
??????‘set(get(gco‘‘userd‘‘)‘‘str‘‘sprintf(‘‘%4.2f‘‘get(gco‘‘val‘‘)))‘);
???uicontrol(‘style‘‘text‘‘string‘labels{j}‘back‘‘w‘?...
??????‘units‘‘norm‘‘pos‘[.16*j-.12?.02?.10?.04])
end
cameratoolbar
stop?=?uicontrol(‘style‘‘toggle‘‘units‘‘norm‘‘pos‘[.91?.94?.08?.05]?...
???‘backgr‘‘w‘‘fontw‘‘bold‘‘string‘‘stop‘);
uicontrol(‘style‘‘text‘‘units‘‘norm‘‘pos‘[.00?.92?.25?.06]?...
???‘backgr‘‘w‘‘fontangle‘‘italic‘‘string‘?...
???{‘Cha

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----

?????文件???????9120??2003-12-23?08:56??walkers.mat

?????文件???????4029??2004-01-05?09:28??walker.m

-----------?---------??----------?-----??----

????????????????13149????????????????????2


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