IK questions (bipeds and reference material)

Lynxmotion Legged Robots
1

Hello all,

Is there IK for biped walking at the hobbyist level? Sequenced motion seems to be the standard for bipeds, and I always assume that there is an issue with balancing bipeds when trying to calculate IK based walking.

Anyone have any titles for literature on IK motion? I’ve searched through the inter-webs and have a few “snippets” but nothing book/textbook worthy.

Thanks

2

I don’t know. My biped “Loki” and others basically “cheat” on IK, using “canned” sequences as you’ve observed.

Try these links:

freespace.virgin.net/hugo.elias/models/m_ik2.htm

cds.caltech.edu/~murray/mlswiki/index.php?title=First_edition

Alan KM6VV

3

Thanks for the links!