runeharlyk / SpotMicroESP32-Leika

My take on the quadruped Spot Micro robot. Its built around an ESP32 cam microcontroller and utilizes a svelte app to control it

MIT License

26 stars 2 forks source link

Closed runeharlyk closed 5 months ago

runeharlyk commented 5 months ago

Purpose

Adds embedded kinematics service for calculation the inverse kinematics.
The services uses esp dsp for efficient matrix multiplications
Simplifies the rotation and transformation matrix to remove 3 matrix multiplications.

The build firmware is at the moment to larges to include OAT, which is the reason for filesystem is changes to huge_app