Rune Harlyk
1.2 KiB
1.2 KiB
🦾 Kinematics
To enable complex movements, it's beneficial to be able to describe the robot state using a world reference frame, instead of using raw joint angles.
The robot's body pose in the world reference frame is represented as
T_{body}=\left[x_b,y_b,z_b,\phi, \theta,\psi\right]
Where
x_b, y_b, z_bare cartesian coordinates of the robot's body center.\phi, \theta,\psiare the roll, pitch and yaw angles, describing the body orientation.
The feet positions in the world reference frame are:
P_{feet}=\left\{(x_{f_i},y_{f_i},z_{f_i})|i=1,2,3,4\right\}
where x_{f_i}, y_{f_i}, z_{f_i} are cartesian coordinates for each foot i.
Solving the inverse kinematics yields target angles for the actuators.