{"id":8195,"date":"2023-04-24T17:44:02","date_gmt":"2023-04-24T08:44:02","guid":{"rendered":"https:\/\/agirobots.com\/?p=8195"},"modified":"2023-05-11T14:25:51","modified_gmt":"2023-05-11T05:25:51","slug":"foot-trajectory","status":"publish","type":"post","link":"https:\/\/developers.agirobots.com\/jp\/foot-trajectory\/","title":{"rendered":"4\u811a\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u306b\u304a\u3051\u308b\u8db3\u5148\u8ecc\u9053\u751f\u6210\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u516c\u958b\uff01"},"content":{"rendered":"\n

4\u811a\u30ed\u30dc\u30c3\u30c8\u306e\u6b69\u884c\u306b\u304a\u3044\u3066\u3001\u8db3\u5148\u306e\u8ecc\u9053\u751f\u6210\u306f\u3068\u3066\u3082\u91cd\u8981\u306a\u4e00\u65b9\u3067\u3001\u96e3\u3057\u304f\u3066\u5206\u304b\u308a\u306b\u304f\u3044\u9818\u57df\u306e\uff11\u3064\u3067\u3059\u3002\u6c17\u8efd\u306b\u8db3\u5148\u306e\u8ecc\u9053\u3092\u751f\u6210\u3055\u305b\u3066\u307f\u305f\u304f\u3066\u3082\u3001ROS\u3092\u4f7f\u3046\u5fc5\u8981\u304c\u3042\u3063\u305f\u308a\u3001\u8907\u96d1\u306a\u5b66\u8853\u7684\u306a\u7814\u7a76\u306e\u30bd\u30fc\u30b9\u30b3\u30fc\u30c9\u3092\u898b\u308b\u5fc5\u8981\u304c\u3042\u3063\u305f\u308a\u3068\u3001\u30cf\u30fc\u30c9\u30eb\u304c\u9ad8\u304b\u3063\u305f\u306e\u304c\u73fe\u72b6\u3067\u3059\u3002\u305d\u3053\u3067\u3001\u6c17\u8efd\u306b\u8db3\u5148\u306e\u8ecc\u9053\u751f\u6210\u3092\u8a66\u305b\u308b\u3088\u3046\u306b\u30e9\u30a4\u30d6\u30e9\u30ea\u3092\u4f5c\u6210\u3057\u305f\u306e\u3067\u7d39\u4ecb\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

\u4f5c\u6210\u3057\u305f\u30e9\u30a4\u30d6\u30e9\u30ea\u306f\u3001\u4ee5\u4e0b\u306e\u30ea\u30dd\u30b8\u30c8\u30ea\u3067\u516c\u958b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n<\/a>\n\n\n

\n
\"\"<\/figure><\/div>\n\n\n

\u6982\u8981<\/h2>\n\n\n\n

\u958b\u767a\u3057\u305f\u30e9\u30a4\u30d6\u30e9\u30ea\u540d\u306f\u300cFoot Trajectory\u300d\u3067\u3059\u3002\u73fe\u6642\u70b9\u3067\u306f\u3001\u4ee5\u4e0b\u306e3\u3064\u306e\u8ecc\u9053\u751f\u6210\u5668\u3092\u30b5\u30dd\u30fc\u30c8\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n

    \n
  • \u30b9\u30d7\u30e9\u30a4\u30f3\u8ecc\u8de1<\/li>\n\n\n\n
  • \u30b5\u30a4\u30f3\u8ecc\u8de1<\/li>\n\n\n\n
  • \u30d9\u30b8\u30a7\u8ecc\u8de1<\/li>\n<\/ul>\n\n\n\n

    4\u811a\u30ed\u30dc\u30c3\u30c8\u306b\u5b9f\u88c5\u3067\u4f7f\u3048\u308b\u3053\u3068\u3092\u76ee\u6307\u3057\u3066\u3044\u307e\u3059\u3002\u540c\u6642\u306b\u958b\u767a\u8005\u306b\u3068\u3063\u3066\u3082\u4f7f\u3044\u3084\u3059\u3044\u3088\u3046\u306b\u3001\u8ecc\u9053\u306e\u53ef\u8996\u5316\u6a5f\u80fd\u3082\u63d0\u4f9b\u3057\u3066\u3044\u307e\u3059\u3002<\/p>\n\n\n\n

    \u5404\u3005\u306e\u8ecc\u9053\u751f\u6210\u5668\u306b\u3064\u3044\u3066<\/h2>\n\n\n\n

    \u5404\u8ecc\u9053\u751f\u6210\u5668\u3067\u5fc5\u8981\u306a\u5c02\u9580\u7684\u5185\u5bb9\u306f\u3001\u3053\u3053\u3067\u306f\u907f\u3051\u3001\u8981\u70b9\u3060\u3051\u8a18\u8f09\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

    \u30b9\u30d7\u30e9\u30a4\u30f3\u8ecc\u9053<\/h3>\n\n\n\n

    \u30b9\u30d7\u30e9\u30a4\u30f3\u8ecc\u9053\u3068\u306f\u3001\u30b9\u30d7\u30e9\u30a4\u30f3\u88dc\u5b8c\u306b\u57fa\u3065\u304f\u8ecc\u9053\u3067\u3059\u3002\u8ad6\u6587\u300cLearning Quadrupedal Locomotion over Challenging Terrain\u300d\u3067\u7d39\u4ecb\u3055\u5165\u308c\u3066\u3044\u308b\u30b9\u30d7\u30e9\u30a4\u30f3\u8ecc\u9053\u306e\u5f0f\u306b\u57fa\u3065\u304d\u3001\u4e00\u90e8\u5909\u66f4\u3057\u3066\u4f5c\u6210\u3057\u307e\u3057\u305f\u3002\u30e9\u30a4\u30d6\u30e9\u30ea\u306b\u5b9f\u88c5\u3057\u305f\u30b9\u30d7\u30e9\u30a4\u30f3\u8ecc\u9053\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\u3002<\/p>\n\n\n\n

    $$
    F(\\phi_i) = \\left\\{\\begin{array}{ll}
    h(-2k^3+3k^2)  & 0 \\le k < 1\\\\
    h(2k^3-9k^2+12k-4)  &  1 \\le k < 2\\\\
    0  & \\text{otherwise}
    \\end{array}\\right.
    $$<\/p>\n\n\n\n

    \u3053\u3053\u3067\\(k\\)\u306f\\(\\frac{2(\\phi_i - \\pi)}{\\pi}\\)\u3067\u3001\u30e9\u30b8\u30a2\u30f3\u8868\u8a18\u306e\u89d2\u5ea6\u60c5\u5831\\(\\phi_i\\)(\\(i\\)\u306f\u811a\u306e\u756a\u53f7)\u3092-2\u304b\u30892\u306e\u9593\u306b\u5909\u63db\u3059\u308b\u95a2\u6570\u3067\u3059\u3002\\(k\\)\u306e\u5024\u306e\u7bc4\u56f2\u306b\u5fdc\u3058\u3066\u5834\u5408\u5206\u3051\u3057\u307e\u3059\u3002\\(h\\)\u306f\u9ad8\u3055\u3092\u8868\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

    \u3053\u306e\u8ecc\u9053\u3092\u3001\u9ad8\u3055\u3068\u5e45\u3092\u5909\u3048\u3066\uff13\u30d1\u30bf\u30fc\u30f3\u63cf\u753b\u3057\u305f\u3082\u306e\u3092\u4e0b\u56f3\u306b\u793a\u3057\u307e\u3059\u3002<\/p>\n\n\n

    \n
    \"\"<\/figure><\/div>\n\n\n

    \u8a08\u7b97\u5f0f\u3092\u4ee5\u4e0b\u306b\u793a\u3057\u307e\u3059\u3002\u4ee5\u4e0b\u306e\\((x(t), y(t))\\)\u3092\u63cf\u753b\u3059\u308b\u3053\u3068\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n

    $$
    x(t) = \\frac{w}{2} \\cos(\\phi(t))
    $$<\/p>\n\n\n\n

    $$
    y(t) =
    \\begin{cases}
    h (-2k^3 + 3k^2), & 0 \\le k < 1 \\\\
    h (2k^3 - 9k^2 + 12k - 4), & 1 \\le k < 2 \\\\
    0, & otherwise
    \\end{cases}
    $$<\/p>\n\n\n\n

    $$
    \\phi(t) = \\text{mod}(\\phi_0 + 2\\pi(f + f_\\text{offset})t, 2\\pi)
    $$<\/p>\n\n\n\n

    $$
    k(t) = 2 \\left( \\frac{\\phi(t) - \\pi}{\\pi} \\right)
    $$<\/p>\n\n\n\n

    \u30b5\u30a4\u30f3\u8ecc\u9053<\/h3>\n\n\n\n

    \u30b5\u30a4\u30f3\u8ecc\u9053\u306b\u3064\u3044\u3066\u306f\u3001\u30b9\u30a6\u30a3\u30f3\u30b0\u30d5\u30a7\u30fc\u30ba\u306b\\(\\sin\\)\u95a2\u6570\u3092\u7528\u3044\u305f\u3082\u306e\u3067\u3059\u3002<\/p>\n\n\n\n

    \u5148\u307b\u3069\u3068\u540c\u69d8\u306b\u3001\u9ad8\u3055\u3068\u5e45\u3092\u5909\u3048\u3066\uff13\u30d1\u30bf\u30fc\u30f3\u63cf\u753b\u3057\u305f\u3082\u306e\u3092\u4e0b\u56f3\u306b\u793a\u3057\u307e\u3059\u3002<\/p>\n\n\n\n

    \u6b63\u5f26\u95a2\u6570\u306f\u5186\u306e\u56de\u8ee2\u304b\u3089\u6c42\u307e\u308b\u901a\u308a\u3001\u3068\u3066\u3082\u4e38\u3063\u3053\u3044\u8ecc\u9053\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n

    \n
    \"\"<\/figure><\/div>\n\n\n

    \u8a08\u7b97\u5f0f\u3092\u4ee5\u4e0b\u306b\u793a\u3057\u307e\u3059\u3002\u4ee5\u4e0b\u306e\\((x(t), y(t))\\)\u3092\u63cf\u753b\u3059\u308b\u3053\u3068\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n

    $$
    x(t) = \\frac{w}{2} \\cos(\\phi(t))
    $$
    $$
    y(t) =
    \\begin{cases}
    0, & 0 \\le \\phi(t) < \\pi \\\\
    h \\sin(\\phi(t) - \\pi), & \\pi \\le \\phi(t) < 2\\pi
    \\end{cases}
    $$
    $$
    \\phi(t) = \\text{mod}(\\phi_0 + 2\\pi(f + f_\\text{offset})t, 2\\pi)
    $$
    <\/p>\n\n\n\n

    \u30d9\u30b8\u30a7\u8ecc\u9053<\/h3>\n\n\n\n

    \u30d9\u30b8\u30a7\u8ecc\u9053\u3068\u306f\u3001\u30d9\u30b8\u30a7\u88dc\u5b8c\u306b\u57fa\u3065\u304f\u8ecc\u9053\u3067\u3059\u3002\u8ad6\u6587\u300cLeg Trajectory Planning for Quadruped Robots with High-Speed Trot Gait\u300d\u3067\u7d39\u4ecb\u3055\u5165\u308c\u3066\u3044\u308b\u30d9\u30b8\u30a7\u8ecc\u9053\u3092\u5b9f\u88c5\u3057\u307e\u3057\u305f\u3002
    \u203b\u30b9\u30bf\u30f3\u30b9\u30d5\u30a7\u30fc\u30ba\u306f\u8ad6\u6587\u3068\u7570\u306a\u308b\u53ef\u80fd\u6027\u304c\u3042\u308a\u307e\u3059\u3002<\/p>\n\n\n\n

    \u30d9\u30b8\u30a7\u8ecc\u9053\u3092\u4f5c\u6210\u3059\u308b\u3068\u304d\u306f\u3001\u30d9\u30b8\u30a7\u8ecc\u9053\u3092\u751f\u6210\u3059\u308b\u305f\u3081\u306e\u5236\u5fa1\u70b9\u3092\u8907\u6570\u7528\u610f\u3057\u3001\u305d\u308c\u3092\u30d9\u30b8\u30a7\u88dc\u5b8c\u3059\u308b\u3053\u3068\u3067\u5f97\u307e\u3059\u3002<\/p>\n\n\n\n

    \u5b9f\u88c5\u3057\u305f\u30d9\u30b8\u30a7\u8ecc\u9053\u3092\u751f\u6210\u3059\u308b\u3068\u304d\u306b\u4f7f\u7528\u3059\u308b\u5236\u5fa1\u5e97\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\u3002<\/p>\n\n\n\n

     DESIRED_VELOCITY = 10\n    SWING_PERIOD = 1\n    POINTS_COUNT = 11\n    CONTROL_POINTS = np.array([\n        [-0.5, 0],\n        [-(0.5 + DESIRED_VELOCITY \/ ((POINTS_COUNT + 1) * SWING_PERIOD) \/ 340), 0],\n        [-0.88, 0.73],\n        [-0.88, 0.73],\n        [-0.88, 0.73],\n        [0, 0.73],\n        [0, 0.73],\n        [0, 1],\n        [0.88,1],\n        [0.88, 1],\n        [0.5 + DESIRED_VELOCITY \/ ((POINTS_COUNT + 1) * SWING_PERIOD) \/ 340, 0],\n        [0.5, 0]\n    ])<\/code><\/pre><\/div>\n\n\n\n
    \u30d9\u30b8\u30a7\u88dc\u5b8c\u306e\u5f0f\u306f\u4ee5\u4e0b\u306e\u901a\u308a\u3067\u3059\u3002<\/p>\n\n\n\n
    $$
    B(t) = \\sum_{i=0}^n {}_nC_i P_i (1-t)^{n-i}t^i
    $$<\/p>\n\n\n\n
    \u5148\u307b\u3069\u3068\u540c\u69d8\u306b\u3001\u9ad8\u3055\u3068\u5e45\u3092\u5909\u3048\u3066\uff13\u30d1\u30bf\u30fc\u30f3\u63cf\u753b\u3057\u305f\u3082\u306e\u3092\u4e0b\u56f3\u306b\u793a\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
    \u30d9\u30b8\u30a7\u88dc\u5b8c\u306f\u3001\u30b9\u30d7\u30e9\u30a4\u30f3\u88dc\u5b8c\u3084\u30b5\u30a4\u30f3\u88dc\u5b8c\u3068\u7570\u306a\u308a\u3001\u30b9\u30a6\u30a3\u30f3\u30b0\u3068\u30b9\u30bf\u30f3\u30b9\u304c\u30b9\u30e0\u30fc\u30ba\u306b\u7d50\u3070\u308c\u3066\u3044\u308b\u306e\u304c\u7279\u5fb4\u3067\u3059\u3002<\/p>\n\n\n
    \n
    \"\"<\/figure><\/div>\n\n\n
    \u8a08\u7b97\u5f0f\u3092\u4ee5\u4e0b\u306b\u793a\u3057\u307e\u3059\u3002\u4ee5\u4e0b\u306e\\((x(t), y(t))\\)\u3092\u63cf\u753b\u3059\u308b\u3053\u3068\u306b\u306a\u308a\u307e\u3059\u3002<\/p>\n\n\n\n
    $$
    x(t) = \\frac{w}{2} \\cos(\\phi(t))
    $$
    $$
    y(t) =
    \\begin{cases}
    -0.1h \\sin(\\phi(t)), & 0 \\le \\phi(t) < \\pi \\\\
    h B(\\phi(t) - \\pi), & \\pi \\le \\phi(t) < 2\\pi
    \\end{cases}
    $$
    $$
    \\phi(t) = \\text{mod}(\\phi_0 + 2\\pi(f + f_\\text{offset})t, 2\\pi)
    $$
    $$
    B(t) = \\sum_{i=0}^{n} {}_nC_i (1-t)^{n-i} t^i P_i
    $$<\/p>\n\n\n\n
    \u30e9\u30a4\u30d6\u30e9\u30ea\u306e\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u65b9\u6cd5<\/h2>\n\n\n\n
    \u4ee5\u4e0b\u306e\u30b3\u30de\u30f3\u30c9\u3092\u5b9f\u884c\u3059\u308b\u3053\u3068\u3067\u30a4\u30f3\u30b9\u30c8\u30fc\u30eb\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002<\/p>\n\n\n\n
    pip install git+https:\/\/github.com\/aakmsk\/foot_trajectory.git<\/code><\/pre><\/div>\n\n\n\n
    \u8ecc\u9053\u30af\u30e9\u30b9\u306e\u4f7f\u3044\u65b9<\/h2>\n\n\n\n
    \u4f7f\u3044\u65b9\u306e\u5927\u307e\u304b\u306a\u6d41\u308c\u306f\u3001\u2460\u8ecc\u9053\u30af\u30e9\u30b9\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u5316\u3001\u2461compute_trajectory\u30e1\u30bd\u30c3\u30c9\u306e\u5b9f\u884c\u3067\u3059\u3002<\/p>\n\n\n\n
    \u4f7f\u7528\u3057\u305f\u3044\u8ecc\u9053\u30af\u30e9\u30b9\uff08SplineFootTrajectoryGenerator\u3001SineFootTrajectoryGenerator\u3001BezierFootTrajectoryGenerator\uff09\u3092\u30a4\u30f3\u30dd\u30fc\u30c8\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n
    import numpy as np\nfrom foot_trajectory.foot_trajectory import (\n    SplineFootTrajectoryGenerator, \n    SineFootTrajectoryGenerator, \n    BezierFootTrajectoryGenerator\n)<\/code><\/pre><\/div>\n\n\n\n
    \u8ecc\u9053\u751f\u6210\u5668\u306e\u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u5316\u3068\u3001\u8ecc\u9053\u306e\u751f\u6210\u3092\u884c\u3044\u307e\u3059\u3002\u4eca\u56de\u306f\u3001\u8ecc\u9053\u751f\u6210\uff08compute_trajectory\uff09\u306b\u304a\u3044\u3066\u6642\u523bt\u3092\u914d\u5217\u306b\u3057\u3066\u3044\u307e\u3059\u304c\u3001\u30ea\u30a2\u30eb\u30bf\u30a4\u30e0\u306b\u751f\u6210\u3055\u305b\u305f\u3044\u5834\u5408\u306f\u3001\u30d7\u30ed\u30b0\u30e9\u30e0\u306e\u7d4c\u904e\u6642\u9593\u306a\u3069\u306e\u30b9\u30ab\u30e9\u30fc\u3092\u5165\u529b\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
    spline_generator = SplineFootTrajectoryGenerator(base_frequency=1.0, initial_phi=0.0)\nsine_generator = SineFootTrajectoryGenerator(base_frequency=1.0, initial_phi=0.0)\nbezier_generator = BezierFootTrajectoryGenerator(base_frequency=1.0, initial_phi=0.0)\n\nt = np.linspace(0, 2 * np.pi, 100)\n\nspline_trajectory = spline_generator.compute_trajectory(t, frequency_offset=0, width=1, height=1)\nsine_trajectory = sine_generator.compute_trajectory(t, frequency_offset=0, width=1, height=1)\nbezier_trajectory = bezier_generator.compute_trajectory(t, frequency_offset=0, width=1, height=1) <\/code><\/pre><\/div>\n\n\n\n
    \u30a4\u30f3\u30b9\u30bf\u30f3\u30b9\u5316\u306e\u969b\u306e\u5f15\u6570<\/strong>\u306b\u306f\u3001base_frequency<\/code>\u3068initial_phi<\/code>\u304c\u3042\u308a\u3001\u524d\u8005\u306f\u8ecc\u9053\u306e\u5468\u6ce2\u6570\u3092\u3001\u5f8c\u8005\u306f\u6642\u523b0\u306e\u6642\u306e\u8ecc\u9053\u4f4d\u7f6e\uff08\u3059\u306a\u308f\u3061\u8ecc\u9053\u751f\u6210\u5668\u306e\u30b9\u30bf\u30fc\u30c8\u4f4d\u7f6e\uff09\u3092\u8868\u3057\u307e\u3059\u3002base_frequency=1<\/code>\u306b\u3059\u308c\u3070\u30011\u79d2\u3067\u30b9\u30a6\u30a3\u30f3\u30b0\u3068\u30b9\u30bf\u30f3\u30b9\u306e\u4e00\u9023\u306e\u52d5\u4f5c\u3092\u5b9f\u884c\u3057\u307e\u3059\u3002base_frequency=0.2<\/code>\u306b\u3059\u308c\u3070\u3001\u5468\u671f\u3068\u5468\u6ce2\u6570\u306e\u516c\u5f0f\\(T=1\/f\\)\u3088\u308a5\u79d2\u304b\u3051\u3066\u5b9f\u65bd\u3057\u307e\u3059\u3002\u3064\u307e\u308a\u3001\u6b69\u884c\u901f\u5ea6\u3092\u5909\u66f4\u3067\u304d\u308b\u306e\u3067\u3059\u3002initial_phi<\/code>\u306b\u3064\u3044\u3066\u306f\u3001\u6307\u5b9a\u3059\u308b\u5024\u3068\u3001\u305d\u306e\u30b9\u30bf\u30fc\u30c8\u4f4d\u7f6e\u3092\u4e0b\u56f3\u306b\u793a\u3057\u307e\u3059\u3002<\/p>\n\n\n
    \n
    \"\"<\/figure><\/div>\n\n\n
    \\(0\\rightarrow\\frac{\\pi}{2}\\rightarrow\\pi\\)\uff1a\u30b9\u30bf\u30f3\u30b9
    \\(\\pi\\rightarrow\\frac{3\\pi}{2}\\rightarrow 2\\pi(0)\\)\uff1a\u30b9\u30a6\u30a3\u30f3\u30b0<\/p>\n\n\n\n
    \u3064\u307e\u308a\u3001initial_phi=0<\/code>\u306e\u3068\u304d\u306f\u30b9\u30bf\u30f3\u30b9\u52d5\u4f5c\u304b\u3089\u59cb\u307e\u308a\u3001initial_phi=np.pi<\/code>\u3068\u3059\u308c\u3070\u30b9\u30a6\u30a3\u30f3\u30b0\u304b\u3089\u59cb\u307e\u308a\u307e\u3059\u3002<\/p>\n\n\n\n
    compute_trajectory\u306e\u5f15\u6570<\/strong>\u306b\u306f\u3001t<\/code>\u3001frequency_offset<\/code>\u3001width<\/code>\u3001height<\/code>\u304c\u3042\u308a\u307e\u3059\u3002\u9806\u756a\u306b\u3001\u53d6\u5f97\u3057\u305f\u3044\u8ecc\u9053\u306e\u6642\u523b\u3001\u30aa\u30d5\u30bb\u30c3\u30c8\u5468\u6ce2\u6570\u3001\u5e45\u3001\u9ad8\u3055\u3067\u3059\u3002\u30aa\u30d5\u30bb\u30c3\u30c8\u5468\u6ce2\u6570\u306f\u57fa\u672c\u7684\u306b0\u306b\u3057\u3066\u304a\u3051\u3070\u3088\u3044\u3067\u3059\u304c\u3001\u4e00\u6642\u7684\u306b\u56de\u8ee2\u901f\u5ea6\u3092\u4e0a\u3052\u305f\u3044\u5834\u5408\u3084\u4e0b\u3052\u305f\u3044\u5834\u5408\u306b\u4f7f\u7528\u3059\u308b\u3053\u3068\u304c\u3067\u304d\u307e\u3059\u3002\u5e45\u3084\u9ad8\u3055\u306f\u3001\u8ecc\u9053\u306e\u5e45\u3068\u9ad8\u3055\u3092\u8868\u3057\u307e\u3059\u3002width=1<\/code>\u3001height=1<\/code>\u306e\u5834\u5408\u3001\u8ecc\u9053\u306e\u5e45\u3084\u9ad8\u3055\u306f1\u3067\u3059\uff08\u30d9\u30b8\u30a7\u8ecc\u9053\u306e\u5834\u5408\u306f\u8aa4width=1\u306f\u30b9\u30bf\u30f3\u30b9\u9577\uff09\u3002\u30b5\u30a4\u30ba\u3084\u5358\u4f4d\u306f\u3001\u4f7f\u7528\u3055\u308c\u308b\u74b0\u5883\u306b\u5408\u308f\u305b\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n
    \u53ef\u8996\u5316\u30c4\u30fc\u30eb\u306e\u4f7f\u3044\u65b9<\/h2>\n\n\n\n
    \u73fe\u6642\u70b9\u3067\u306f\u3001\u53ef\u8996\u5316\u30c4\u30fc\u30eb\u3068\u3057\u3066\u3001\u30a2\u30cb\u30e1\u30fc\u30b7\u30e7\u30f3\u5316\u306e\u6a5f\u80fd\u3092\u7528\u610f\u3057\u3066\u3044\u307e\u3059\u3002\u30a2\u30cb\u30e1\u30fc\u30b7\u30e7\u30f3\u5316\u306e\u6a5f\u80fd\u306f\u4ee5\u4e0b\u306e\u3088\u3046\u306b\u3057\u3066\u30a4\u30f3\u30dd\u30fc\u30c8\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
    from foot_trajectory.foot_trajectory import TrajectoryAnimation<\/code><\/pre><\/div>\n\n\n\n
    \u30a2\u30cb\u30e1\u30fc\u30b7\u30e7\u30f3\u306f\u6b21\u306e\u3088\u3046\u306b\u3057\u3066\u4f5c\u6210\u3057\u307e\u3059\u3002<\/p>\n\n\n\n
    animation = TrajectoryAnimation(\n    t,   # \u8ecc\u9053\u751f\u6210\u3067\u4f7f\u7528\u3057\u305f\u6642\u523b\uff08s\uff09\u306e\u914d\u5217\n    spline_trajectory,   # \u63cf\u753b\u3057\u305f\u3044\u8ecc\u9053\u60c5\u5831\n    save_name="spline_trajectory.mp4",  # \u4fdd\u5b58\u540d\u3092\u6307\u5b9a\n    axis_limits=(-1, 1, -0.5, 1.5)    # \u63cf\u753b\u7bc4\u56f2\u3092\u6307\u5b9a\n)<\/code><\/pre><\/div>\n\n\n\n
    width=1<\/code>\u3001height=1<\/code>\u3068\u3057\u3066\u3001\u305d\u308c\u305e\u308c\u306e\u8ecc\u9053\u751f\u6210\u5668\u3067\u751f\u6210\u3055\u308c\u305f\u8ecc\u9053\u3092\u53ef\u8996\u5316\u3059\u308b\u3068\u6b21\u306e\u3088\u3046\u306b\u306a\u308a\u307e\u3059\u3002\u53ef\u8996\u5316\u3057\u305f\u8ecc\u9053\u306e\u5468\u6ce2\u6570\u306f\u3001\u5168\u30661Hz\u3067\u3059\u3002
    \u203bTrajectoryAnimation\u306e\u5f15\u6570\u3068\u3057\u3066\u8ecc\u9053\u751f\u6210\u6642\u306e\u6642\u523b\u914d\u5217\u3092\u6e21\u3057\u3066\u3044\u308b\u306e\u306f\u3001\u30a2\u30cb\u30e1\u30fc\u30b7\u30e7\u30f3\u5316\u306e\u969b\u306b\u52d5\u4f5c\u901f\u5ea6\u3092\u6b63\u78ba\u306b\u518d\u73fe\u3059\u308b\u305f\u3081\u3067\u3059\u3002\u307e\u305f\u3001mp4\u3067\u3042\u308c\u3070\u52d5\u4f5c\u901f\u5ea6\u306f\u304a\u304a\u3080\u306d\u6b63\u78ba\u3067\u3059\u304c\u3001gif\u306e\u5834\u5408\u306f\u52d5\u4f5c\u901f\u5ea6\u306f\u5168\u304f\u53c2\u8003\u306b\u306a\u308a\u307e\u305b\u3093\u306e\u3067\u6ce8\u610f\u3057\u3066\u304f\u3060\u3055\u3044\u3002<\/p>\n\n\n\n
    \u30b9\u30d7\u30e9\u30a4\u30f3\u8ecc\u9053\u306e\u52d5\u4f5c\u4f8b\u3067\u3059\u3002<\/p>\n\n\n\n
    \n