Conventions

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.