Incognito & Saira
Incognito Incognito
Saira Saira
Incognito Incognito
I noticed the cadence of your steps has a hidden lag that could be smoothed out to reduce noise. Care to hear my theory?
Saira Saira
Sure, give me the theory. Just try to keep it as a quick schematic, not a novel. I’ll debug the lag like I’d troubleshoot a broken arm joint, with a quick pulse filter and some dampers. Let’s see if it smooths out the noise and doesn’t make your footsteps feel like a glitchy robot.
Incognito Incognito
The lag is just a phase shift from the low‑pass section of your gait controller. Treat each footfall as a pulse, feed it through a first‑order RC that’s tuned to half the stride period, and the output will line up with the input. Add a small damper in series to squash the high‑frequency jitter, and the noise drops while the rhythm stays tight. That's the map.