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Inverse Kinematics #24

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Wen-taoYang opened this issue Apr 13, 2021 · 3 comments
Open

Inverse Kinematics #24

Wen-taoYang opened this issue Apr 13, 2021 · 3 comments

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@Wen-taoYang
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What is the coordinate system of pupper？What is the sequence of motor control？
@Nate711
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Nate711 commented Jun 2, 2021

The coordinate system is fixed to the frame of the robot and centered at the geometric center between the hip axes. Not sure what you mean by sequence of motor control.

@artur-iluk
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More specific question:
how are oriented axes of pupper? Where points X+axis and so on.

@FaboNo
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FaboNo commented May 28, 2022

Yes I guess X axis is forward along the main body frame, Y axis perpendicular. However the question is more about the Z axis is oriented up or down?
Thank you for this astonished work actually

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4 participants
@Nate711 @FaboNo @Wen-taoYang @artur-iluk