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Need explanation of Walker Demo's leg-algorithm

I want to understand the algorithm that calculates the time-absed motion of the leg's joints within the walker demo. I do not understand exactly how the calculate-torque methods work and how they relate to the passed time.

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Submitted by Serethos on Thu, 2006-08-17 14:48.

Need explanation of Walker Demo's leg-algorithm

Submitted by jk on Sun, 2006-08-20 09:00.

The technique used in most of the demo breve simulations is to assume that each joint has a sine wave motion as a function of time, as shown in this equation

    time = ( controller get-time ).
    torque = W * sin( X * ( time + Y ) - Z.
    W controls the amplitude of the wave by scaling the sine equation
    X controls the frequency of the wave by scaling the time value
    Y controls the phase-shift of the wave (relative to other joints in the body) by offsetting the time value
    Z controls the vertical shift of the wave by adding a scalar value to the output.
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