Kinematics model

Kinematics of the Dr.QP robot is covered in a series of notebooks.

Contents:

• 1. Getting Started With Robot Inverse Kinematics (IK)
  • What is Inverse Kinematics?
  • Why is Inverse Kinematics Important?
  • How to Use Inverse Kinematics
  • The robot model
  • Forward kinematics
  • Exercise 1. Forward kinematics. Find angles at which the leg is on the ground
  • Solving inverse kinematics using trigonometry
  • Femur and Tibia Inverse Kinematics in X’Z Plane
• 2. Matrix based transforms
  • Affine transforms
• 3. Generating gaits
  • Parametric gait generator
  • Visualizing the gaits
  • Directional Gait Decorator
• 4. Migrating the Existing Kinematics Model to MoveIt 2
  • What existed before MoveIt 2?
  • The old mental model in one picture
  • Step 1. Preserve the robot’s structure in URDF/Xacro
  • Step 2. Add the semantics MoveIt needs through SRDF
  • Step 3. Replace the handwritten IK entry point with a MoveIt solver plugin
  • Step 4. Carry over limits and execution constraints
  • Step 5. Assemble everything in the launch files
  • Step 6. Support both visualization-only and simulation flows
  • Step 7. Verify the migration with automated tests
  • Old world vs new world
  • What did not change
  • A practical migration checklist
  • Summary
• Experiments
  • SAxense feasibility for DualSense audio and haptics
  • 3.1 Experiment: Smoothing Splines
  • 3.2 Experiment: Transitions