Inverse Kinematics
Wen-taoYang opened this issue · 3 comments
Wen-taoYang commented
What is the coordinate system of pupper？What is the sequence of motor control？
Nate711 commented
The coordinate system is fixed to the frame of the robot and centered at the geometric center between the hip axes. Not sure what you mean by sequence of motor control.
artur-iluk commented
More specific question:
how are oriented axes of pupper? Where points X+axis and so on.
FaboNo commented
Yes I guess X axis is forward along the main body frame, Y axis perpendicular. However the question is more about the Z axis is oriented up or down?
Thank you for this astonished work actually