From 4d51b9f55647822cb298a3c93b9f544e5223a7ab Mon Sep 17 00:00:00 2001 From: Rune Harlyk Date: Fri, 10 Oct 2025 22:23:51 +0200 Subject: [PATCH] =?UTF-8?q?=F0=9F=8E=A8=20Adds=20kinematics=20config=20to?= =?UTF-8?q?=20readme?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- readme.md | 22 ++++++++++++++++++++++ 1 file changed, 22 insertions(+) diff --git a/readme.md b/readme.md index aeaf816..82d7565 100644 --- a/readme.md +++ b/readme.md @@ -174,6 +174,28 @@ A smaller and more affordable variant currently under development. Leika Mini ai Leika mini +### Kinematics Configuration + +| Parameter | Leika (Standard) | Leika Mini | Yertle | +| --------------------- | ---------------- | ----------- | ------------- | +| **Coxa Length** | 60.5mm | 35.0mm | 35.0mm | +| **Coxa Offset** | 10.0mm | 0.0mm | 0.0mm | +| **Femur Length** | 111.2mm | 60.0mm | 130.0mm | +| **Tibia Length** | 118.5mm | 60.0mm | 130.0mm | +| **Body Length (L)** | 207.5mm | 160.0mm | 240.0mm | +| **Body Width (W)** | 78.0mm | 80.0mm | 78.0mm | +| **Max Leg Reach** | 219.7mm | 95.0mm | 255.0mm | +| **Body Height Range** | 98.9-197.7mm | 42.8-85.5mm | 114.8-229.5mm | + +**Motion Limits:** + +- Maximum roll/pitch: ±15° +- Maximum body shift: W/3 in X and Z directions +- Maximum step length: 80% of leg reach +- Maximum step height: 50% of leg reach + +The kinematics system automatically adapts to the selected hardware variant through compile-time configuration flags (`SPOTMICRO_ESP32`, `SPOTMICRO_ESP32_MINI`, `SPOTMICRO_YERTLE`). + ## Hardware & Electronics ### Mechanical Components