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Log

08/12/2020 - 17/12/2020

  • Redo some optimsisations
  • Add CoM differences into optimisations (not used)
  • Final write up and commit

27/11/2020 - 08/12/2020

  • Repeat optimisations with new cost function

12/11/2020 - 27/11/2020

  • Optimisations done

11/11/2020

  • Spline technique data
  • Evaluation done

10/11/2020

  • Evaluation #1 with aerial time in cost function

09/11/2020

  • 7 seg evaluation script
  • AUTOZ test

08/11/2020

  • New 7 segment model

07/11/2020

  • Update BodyBuilder model and experimental data .m scripts to get all angles

30/10/2020 - 5/11/2020

  • Try out various different cost functions for evaluations

29/10/2020

  • Refine HAT angle and CoM location relative to stance hip

28/10/2020

  • Change angle definitions to match model better
  • Match segment lengths from experimental data

21/10/2020

  • Redo energy and momentum checks
  • Model evaluation script

20/10/2020

  • Add torque measure numbers for angle-driven joints
  • HAT mass function now using magnitude of distance from hip to specify along HAT axis 1
  • Tidy up repository

19/10/2020

  • Change angle-driven joint definitions to have joint angles as input
  • Angular momentum conservation checks for new model

18/10/2020

  • Get joint angles from technique video
  • Spline coefficients for joint angles

17/10/2020

  • New six segment model with angle-driven swing leg and HAT segment

14/10/2020

  • Change model so that mass functions specified in thigh reference frame
  • Complete energy and momentum conservation checks

13/10/2020

  • Add techniqueCM.m which compares the changes in CoM height with different techqniues

12/10/2020

  • Calculate quintic smoothing spline coefficients for mass positions (*_coef.csv)
  • Change update.bat files to copy coefficients not raw data
  • Change base model to read in spline coefficients and evaluate in EQNS1

04/10/2020

  • Energy and momentum conservation checks
  • Change some outputs in base model

02/10/2020

  • Create model Autolev file
  • Create plotting scripts for data and model
  • Add filter to getData.m

01/10/2020

  • Change scripts to output .txt files
  • Create all data files for simulations as .txt
  • Edit getData.m to average across both legs

29/09/2020

  • Mass functions script for upper body mass
  • Tidy up other functions

26/09/2020

  • Redo technique script with autolev file for equations of leg CoM

25/09/2020

  • Tidy up CM.m
  • Calculate experimental data whole-body CoM with three segment trunk
  • Digitise technique video

24/09/2020

  • Set-up directory and add to GitHub
  • Clean up file structure