1,4 and 5 "swing" simultaneously. 2,3 and 6 swing simultaneously. Write MATLAB code to generate x y and z directional foot tip references for foot number 1 and foot number 2 expressed in the body attached coordinate frame. Assign shoulder coordinates at the same height of the body coordinate frame, in the same coordinate of the body coordinate frame,40cm away from the body coordinate frame in the y direction. The body should be50cm above the ground level during the walk. The walking period should be 3 seconds. Assign all other necessary walking parameters suitably by yourself. Plot reference foot trajectories as expressed in the body attached coordinate frame. Write your code with comments. Hint: 1-cos type curves help in creating smooth trajectories.

Apply The trajectory generation approach: l. 4 and 5 \"swing" simultaneously. 2. 3 and '5 swing simultaneously. Write MATLAB code to generate it. y an: a directional foot tip references for that number 1 and foot number 2 expressed in the body attached coordinate frame. Assign shoulder coordinates at the same height ofthe body coordinare frame. in the same it coordinate of the body coordinate frame. 4t] cm away from the body coordinate frame in the y direction. The body should be 51] cm some the ground letfei during the walk. The Walking period shmd be 3 seconds. Assign all other necessary walking paramelers suitably by yourself. Plot reference foot trajectories as expressed in the body attached coordinate frame. 1White your code with comments. Hint: 1-ces type curves help in creating smooth trajectories