Development documentation

• Product specification
  • A basic bot
  • A better bot
  • A good bot
  • A great bot
  • A dream bot
• Dr.QP CAD designs
  • Web viewer
  • Downloads
• Kinematics model
  • 1. Getting Started With Robot Inverse Kinematics (IK)
    • What is Inverse Kinematics?
    • Why is Inverse Kinematics Important?
    • How to Use Inverse Kinematics
    • Setting up the Jupyter notebook for experimentation
    • The robot model
    • Forward kinematics
    • Exercise 1. Forward kinematics. Find angles at which the leg is on the ground
    • Solving inverse kinematics using trigonometry
      • Coxa Inverse Kinematics
    • Femur and Tibia Inverse Kinematics in X’Z Plane
      • Putting it all together
      • The classic IK test - drawing a circle
  • 2. Matrix based transforms
    • Setting up the Jupyter notebook for experimentation
    • Affine transforms
  • 3. Generating gaits
    • Setting up the Jupyter notebook for experimentation
    • Tripod gait
    • Directional Gait Decorator
      • TL;DR
      • Why This Works
    • Ripple gait
    • Wave Gait
    • Summary and steps forward (pun intended)
    • Turning robot
      • Putting it all together
  • 3.1 Appendix: Smoothing Splines
    • Deep dive into smoothing splines
    • Setting up the Jupyter notebook for experimentation
    • BSpline
    • BSpline in application to gaits trajectory approximation
    • Bezier curve using B-spline
    • Pure python implementation of Bézier curve
      • Bezier Interpolation
    • An abandoned attempt to use smoothing splines for gait generation
      • Summary and steps forward (pun intended)
      • Gait trajectory function
      • Defining gaits as b-spline control points
• Notes
  • Raspberry Pi storage
    • Tested on RPi 4
      • Built in SSD (Ultra XC10)
      • Samsung tiny USB3 Drive (FAT)
      • Samsung tiny USB3 Drive (ext4)
      • SanDisk via proper USB3 cable
      • Kingston DataTraveler MAX
    • Tested on linux laptop
      • Kingston DataTraveler MAX via Dock → Hub
      • Kingston DataTraveler MAX directly via USB3 adapter directly
  • Uninstalling Ubuntu Desktop
  • vcpkg evaluation