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Gait tuning

Stepper5

Engine is Stepper5 field in <MoveenStepper5> component. It contains most of the settings related to gait style.

CogUpDown

Center Of Gravity, -1 - bottom, 1 - head

CogAngle

Rotate around Center Of Gravity

CogForce

Push force to compensate Center Of Gravity

BodyLenHelp

Body helps steps length, or opposes rotation (-1 - clumsy, +1 - agile)

HipFlexibility

Hip flexibility relatively to the body

HipPosRel

Hip position relative to the body (TODO refactor)

Jumpy

Force to move body up-down with steps

DownOnStep

0.5 - lower body between lands, 1 - no lowering, 1.5 - higher between lands (unnatural)

LeadingLegRight

Logical right leg to calculate gait (even for multipeds)

LeadingLegLeft

Logical left leg to calculate gait (even for multipeds)

Step2

FootPlatformHeight

Height of foot base

StepSpeedMin

Minimal leg stepping speed

StepSpeedBodyMul

Leg stepping speed X body speed dependency

UndockPause

Pause between leg decided to step, and it actually ups (0 for very light walk, 0.2 and more to add more weight)

Step height

Step height is important thing to tune. From the one end, you don’t want your model to walk like a heron. From the other - it doesn’t supposed to cling to any ledge. You can tune it with two parameters Undock Initial Strength and Undock Time.