Help I have a robot dog and I need an inverse kinematics walking code.
The two leg parts are each 7 cm. And I want the walk pattern to be a semi circular.
Summary
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And where you with it ?
Have you built the hardware ?
How are you controlling the limbs ?
What code experience do you have ?
Is this a school/uni type project ?
What do you want from the forum ? ( hint …… don’t think anyone will supply code )
Have you decided on the number of legs yet?
walk pattern to be a semi circular
Got it!
Yes I have build the hardware. I am using the pca9685 16-channel 12-bit pwm servo driver.
4 legs
How big is the semicircle? How do you want things to move post-semi-circle?
D you know trig? Inverse kinematics is just trig. Really ugly trig.
It gets a little less ugly when you add in some linear algebra. Although I'm betting a lot more people took trig than took linear algebra.
This series on YouTube is great. I'm not sure if this is actually the first video or not, you may need to hunt down some earlier ones if this starts off too advanced. You might also need to go learn some super basic linear algebra. I mean like the first few chapters of a textbook. You don't need the advanced stuff.
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have you checked out this model?