hello,
Our group decided to build an autonomous biped robot using BRAT as our chassis for our seniors project. It is our first encounter with building and programming a robot and right now we’re having a hard time making kinematics analysis of the robot and implementing static analysis. Can anyone help us please…
Thanks for any help and suggestions…
regards,
rhey22
You might try looking at this recent project:
lynxmotion.com/images/html/proj103.htm, where he did a lot of kenematics work on a biped Pete.
One of the fundamental books on the subject is “Robot Modeling and Control” of Mark W. Spong, Seth Hutchinson, and M. Vidyasagar. You can also find and download an excerpt from this book’s chapter 3, with information on forward and inverse kinematics:
www4.cs.umanitoba.ca/~jacky/Teaching/Courses/COMP_7950-HumanoidRobotics/ReadingList/spong_kinematics.pdf
Thanks a lot for the links… 
Somehow we really would want our biped to walk smoothly like that in the video. The e-book seems not too easy to understand but we’ll work hard on studying it Sir AlexD. Thanks…
Hello rhey22,
I just sent to Lynxmotion the slightly updated version of the algorithm document.
If you or your friends have any questions on the general approach or some details of this algorithm - I’ll be glad to answer.
Alex
I’ve uploaded the new .doc file on your project page; you can find the link near the bottom of the page.
Thank you Beth,
Alex
