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
  • 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
  • Femur and Tibia Inverse Kinematics in X’Z Plane
• 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
  • Ripple gait
  • Wave Gait
  • Summary and steps forward (pun intended)
  • Turning robot
• 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
  • An abandoned attempt to use smoothing splines for gait generation