[spam][spam][spam] walking robot algorithm parts
Undescribed Horrific Abuse, One Victim & Survivor of Many
gmkarl at gmail.com
Sat Jul 8 07:20:00 PDT 2023
ok, trying to think about step planning.
-> we could for example start by assuming a branch opens for the
lifting of each foot
-> for each branch, we could imagine moving the robot's center of mass
along a planned path
- as this motion happens, inverse kinematics will adjust the feet
that are supporting the robot's weight. at some point, a boundary will
be hit where the IK cannot be solved. this is the limit of how far the
robot can travel without lifting another foot.
- additionally, as the robot's center of mass
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