walker

Inheritance for Linkages

The walker module gives a simple interface between a generic linkage and a Walker.

A generic linkage should be understood as a pylinkage.linkage.Linkage. Thus a Walker is a kinematic mechanism (not dynamic).

Created on Thu Jun 10 2021 21:13:12.

@author: HugoFara

class leggedsnake.walker.Walker(joints, order=None, name=None)

Bases: Linkage

A Walker, or a leg mechanism is a Linkage with some useful methods.

add_legs(number=2)

Add legs to a linkage, mostly for a dynamic simulation.

The leg is a subset a joints whose position inherits from a crank.

Parameters:: number (int, optional) – Number of legs to add. The default is 2.
Return type:: None.

get_foots()

Return the list of foot joints, joints that should be used as foots.

Formally, they are joints without children; their positions do not influence other joints.