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stanfordroboticsclub / StanfordQuadruped

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Inverse Kinematics #24

Open ywyw2015 opened 3 years ago

ywyw2015 commented 3 years ago

What is the coordinate system of pupper？What is the sequence of motor control？

Nate711 commented 3 years ago

The coordinate system is fixed to the frame of the robot and centered at the geometric center between the hip axes. Not sure what you mean by sequence of motor control.

artur-iluk commented 2 years ago

More specific question: how are oriented axes of pupper? Where points X+axis and so on.

FaboNo commented 2 years ago

Yes I guess X axis is forward along the main body frame, Y axis perpendicular. However the question is more about the Z axis is oriented up or down? Thank you for this astonished work actually