MorphologyParam

 Script file: 
       MorphologyParam.m

 Purpose:
       Morphological Parameters for the Compass Gait Model

 Revisions:
       Date          Programmer      Description

       2009.05.02    Fumiya Iida     Original code
 
            O   mH
       b   / \
          /   \
     m   o     o  m
        /       \
   a   /         \ 
      /           \
 
 variables:
       mH  -- Mass of Body in Kg. A point mass defined at the hip joint
       m   -- Mass of Leg in Kg. Defined at distances a and b from the leg tip 
              and the hip respectively. 
       a   -- Lenght of lower leg segment in meters 
       b   -- Lenght of upper leg segment in meters

0001 % Script file:
0002 %       MorphologyParam.m
0003 %
0004 % Purpose:
0005 %       Morphological Parameters for the Compass Gait Model
0006 %
0007 % Revisions:
0008 %       Date          Programmer      Description
0009 %
0010 %       2009.05.02    Fumiya Iida     Original code
0011 %
0012 %            O   mH
0013 %       b   / \
0014 %          /   \
0015 %     m   o     o  m
0016 %        /       \
0017 %   a   /         \
0018 %      /           \
0019 %
0020 % variables:
0021 %       mH  -- Mass of Body in Kg. A point mass defined at the hip joint
0022 %       m   -- Mass of Leg in Kg. Defined at distances a and b from the leg tip
0023 %              and the hip respectively.
0024 %       a   -- Lenght of lower leg segment in meters
0025 %       b   -- Lenght of upper leg segment in meters
0026 %
0027 
0028 global mH m a b l;
0029 mH = 5;     % kg
0030 m  = 5;     % kg
0031 a  = 0.5;   % m
0032 b  = 0.5;   % m
0033 l  = a+b;   
0034 
0035 % % Passive walker
0036 % mH=10;
0037 % m=5;
0038 % a=0.5;
0039 % b=0.5;
0040 % l  = a+b;
0041 
0042