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A project log for Quadruped ROS2 Bot

I will try to build a ROS2 enabled quadruped robot

MarioMario 06/03/2019 at 21:500 Comments

Beating the learning curve is hard. Writing about your shit is demotivating, too. I hope I can deliver something sometime soon. My math results look promising. Inverse kinematics should be done shortly.

What am I working on? This:

https://www.math.ucsd.edu/~sbuss/ResearchWeb/ikmethods/iksurvey.pdf

http://gottliebtfreitag.de/msc_freitag.pdf


Why not Denavit-Hartenberg or even a geometric solution? Because Lutz said those are for the lazy. Now I have to fight myself through his solution. Will damped least squares be overkill for 12DOF? Yes. I don't care.

AvE talked on quite a few videos about beating the learning curve. I can't find any good right now. Therefore something else for motivation:

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