Great documentation about the kinematics, have to study that one day…
One thing is for sure, you’ll never get bored with this hobby! Finding enough time for everything is the biggest challenge though 
Thanks for sharing AlexD ! 8)
Thank you Beth!
Absolutely! I was so thrilled when I realized that for this project Mother Nature gave me as a gift an analytical solution of both static and dynamic robot’s balance equations! Usually one has no choice other than going numerical. I think that this algorithm, if it proofs to be helpful, can be used as a sample of approach to IK calculations for the open loop biped’s walk. There is a lot more to be done here and first of course implementing the control part of the code in AtomPro. I hope it will be possible.
A great article on this subject was written by Vern Graner in the Jan. 2009 issue of “Nuts and Volts” magazine: “Robo Resolution 2009”
Alex,
Great work with both the Biped and the software! The videos explains that you really know how to control it! Truly awesome work! I would like to try a biped myself one day. And this little fella even inspires me more.
I’ll keep following your work. Thanks for sharing!
Xan
Thank you Xan.
When you guys have any questions or comments I’ll be glad to answer. This project is like yours - open source: everybody can open and play with it.
Alex