Some work with Bittle
I'm excited to share my recent works with Bittle. I derived and implemented some simple gaits and inverse kinematics from scratch (without the brilliant OpenCat library). It might be useful to robotics starters like me.
I also shared my code on github https://github.com/bstars/MyPetoi/tree/main
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Hi este,
Sorry for the late response, have been busy recently. I'll see if I can get the time to typeset it later.
The coordinate frames I used are not "standard", I just created the coordinates with I found to be easy to work with (since each leg has only 2 DOF). The coordinate transformation is standard homogeneous transformation in robotics. For the inverse kinematics for each leg, please check https://www.youtube.com/watch?v=qFE-zuD6jok. (Please not that in the video each leg has 3 DOF, so the petoi case is simpler).
Hope it helps.
Best,
Jiarui