What Do We Want?

For now, the problem we want to solve is this:

Given the conditions described in the text above and in the diagrams, and given an angle for the squatter's ankle joint (call this angle tex2html_wrap_inline248 ), we want to determine the X-Y position of the squatter's knee joint. Remember: the weight must always be directly over the feet.

The angle tex2html_wrap_inline248 will be measured in degrees counterclockwise from the positive X axis. (Or more precisely, tex2html_wrap_inline248 will be measured in degrees counterclockwise, from a ray in the positive X direction passing though the ankle joint, to the shin link.) So when the squatter is standing straight up, the ankle joint angle will be 90 degrees.

Eric N. Eide
Hamlet Project
Department of Computer Science
University of Utah