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bysense
  • How do we bring sensors to walk?
  • Mission Preparation
    • Conventions
    • Out of the Box
    • Select Sensors
      • Front & Back Installation
      • Core Installation
      • Foot Installation
    • Select Power Sources
    • Select Communication Sources
    • Starting Protocol
  • MISSION DEVELOPMENT
    • bysenseSim
    • Setup bysenseSDK
    • Code Examples
    • Start
    • Calibration
    • Movements
    • State estimation
    • Joint Control
  • MIssion Execution
    • Operating Indicators
    • Data Logging Mechanisms
    • System Health Monitoring
    • Error Code and Messages
    • Connectivity Checks
  • Mission Debrief
    • Post-Mission Protocol
    • Maintenance
  • Open source components
    • STEP file
    • Korpus
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On this page
  • Required Devices
  • Core Frame Conventions
  • Leg Side Conventions
  • Axis Names
  • Leg Axis IDs
  • Dimensions
  • Link Names
  • Joint Ranges
  • HAA Link range
  • KFE and HFE range
  • Link Dimensions
  1. Mission Preparation

Conventions

PreviousHow do we bring sensors to walk?NextOut of the Box

Last updated 5 months ago

Lets start with our used conventions across bysense!

Required Devices

  • Laptop, Computer which runs your OS. For C++ we recommend Linux

  • Ethernet cable or a Router

  • Optionally a debug cage depending on low level development

Core Frame Conventions

Leg Side Conventions

Full Name
Short

Front-Right

FR

Front-Left

FL

Hind-Right

HR

Hind-Left

HL

Axis Names

Full Name
Short

HAA

hip abduction/adduction

HFE

hip flexion extension

KFE

knee flexion/extension

Leg Axis IDs

Full Name
ID

FL-HAA

1

FL-HFE

2

FL-KFE

3

FR-HAA

4

FR-HFE

5

FR-KFE

6

HR-HAA

7

HR-HFE

8

HR-KFE

9

HL-HAA

10

HL-HFE

11

HL-KFE

12

Dimensions

Within this page you will find the overview for all used Dimensions within the SDK

Description

Dimension

length

m

velocity

rad/s

position

rad or deg

torque

Nm

Link Names

The links describe the physical parts between the axis and are named like following:

Joint Ranges

All axis have a mechanical limit. Those limits are within the software embeded. In case of a uncontrolled fall down scenario the limits are there to prevent any damange on the cables between the axis.

HAA Link range

HAA is limited by the U-shaped bumper which is at the same the carrier for the front and back payload and supports the wiring for it. Currently the max range is aroun 60 degree on all sides.

KFE and HFE range

The KFE axis is limited by the upper link of the leg. Currently it has 130 degree of freedom. The HFE axis is made to be folded at the back. During operation of the robot we have 150 degree of freedom for that axis.

Link Dimensions

See in the following the Link dimensions for the use case of a inverse kinematic: