Using Inverse Kinematics

Help & Support Robot Parts
1

Hello,
I own a quadruped that is controlled by an SSC-32. I am using Python to control and manually send commands to the robot.

I am running into some difficulty when it comes to designing a smooth and efficient gait that still maintains balance. However, after some research, I found that using inverse kinematics, and translating Servoangles into positions found on an XYZ plane, would be my best bet. In fact, I was able to find algorithms that used Excel to determine the required Servoangles to remained balanced when given the body’s X, Y, or Z coordinate. I am still confused, however, as to how I can translate the found Servoangles into Servo positions that I can send to the robot.

I was hoping someone on this forum would have some advice or have some useful articles on how to use inverse kinematics to control a robot in Python.

Thanks in advance,
Christopher

2

I am also wondering how I can get my Servo positions in Python to create a more accurate program.

3

Just following up on my previous post.
Please let me know if you have any ideas or insight on how I can approach my problem.

4

Not aware of any open code created in Python for quadruped walking gaits. Note too that there are two styles of quad legs (insect vs. mammal).
If you can’t seem to find info, consider adapting the Phoenix code. github.com/Lynxmotion
Have you already created the hardware? Care to share a photo or two?