ArtBot

Video testing the inverse kinematics software for a Humanoid robot

The robot is equipped with two arms, each arm with 7 DOF. Such arms offer lot of possibilities. However IK (Inverse kinematics) software is required to bring the end-effector at the right position.

This video shows a test of the Inverse kinematics software involving the two arms and the articulated torso.

First end-effectors are positionned and then the torso is moving while the end-effectors (almost) keep the pose.

I am writing a document describing the IK for the whole robot (Torso, Arms and legs). It is a mix of closed form and geometric solutions. If anyone is interested please leave me a message.

 

 

Software architecture overview

In this document, we will provide a brief overview of the software architecture developed to generate and run ODOI gaits.

We focus on Gait simulation and execution only. Another step will be the description of the software that will be able to trigger specific behaviors based on sensory inputs.

The objective is to generate, test and validate a set of “standard” robot gaits and to observe, by changing the stride length for instance, if we can notice some “patterns”.