ts-bill/quadruped_model

Implementing Forware and Inverse Kinematics of SOLO8 Robot (four-legged)

Code Description

• 8dof-3d-visuluze.py - 8dof robot (each leg have 2 dof) visualization
• 12dof-3d-visualize-example.py - Code form https://spotmicroai.readthedocs.io/en/latest/kinematic/

Installation

• pip install matplotlib
• pip install pyqt5

Getting Start

• source quadruped_model_env/bin/activate

Ref

Quadruped Robot Example

LegIK and BodyIK

• LegIK using Denavit-Hartenberg - https://www.researchgate.net/publication/320307716_Inverse_Kinematic_Analysis_Of_A_Quadruped_Robot, https://github.com/OpenQuadruped/spot_mini_mini