| Index | Leg | Servo | Axis | Frame | Angle |
|---|---|---|---|---|---|
| 0 | L1 | SERVO_1 | X | COXA | TETA |
| 1 | R1 | SERVO_2 | Y | FEMUR | BETA |
| 2 | L2 | SERVO_3 | Z | TIBIA | ALPHA |
| 3 | R2 | ||||
| 4 | L3 | ||||
| 5 | R3 |
- Leg Index: Number or Alias (L1 = 0, R1 = 1, L2 = 2, R2 = 3, L3 = 4, R3 = 5) of each one leg.
- Anchor Position: Coordinate of leg anchor (x, y, z) which connects leg to body.
- Tip Position: Coordinate of leg tip (x, y, z) which touches the ground.
- Leg Alignment: Angle of leg on normalized position (θ = 0°) relative to X axis. For example, in this example below R1 has 45° alignment.
- Posture Rotation: Pitch (rx), Roll (ry), Yaw (rz) of robot's body.
- Normal Position: Robot's standing posture when it's on standby mode.
- FRS: Front and Rear Span of Robot's Normal Position.
- MS: Middle Span of Robot's Normal Position.
- L: Length of Robot's Normal Position.
- Servo Index: Number or Alias of each Servo in one leg.
- Servo Angle: Angle of each servo (see image below for the reference).
- H: Height of Robot's Normal Position.
- Normal PWM: Each one of servo PWM value when the angle = 0°.
- Ratio PWM: Differential of how much angle shift per PWM (Δ angle / Δ pwm).
