LI09 lower part of body Design
LI09 lower part of body Design
by leonids
Tue Sep 13, 2011 4:55 am
it is lower part of my robot LI09's body design. welcome to discuss and give me evaluate, I will pay attention in your every word and use my poor english to answer you~It is because my english is really poor...
http://leonids1217.wordpress.com/2011/0 ... 09-design/
http://leonids1217.wordpress.com/2011/0 ... 09-design/
by i-Bot
Tue Sep 13, 2011 11:23 am
I see you choose waist yaw instead of individual hip yaw. Is this normal on KHR ?
Your ankle pitch and roll axis are not aligned, and also the hip pitch and roll axis. Most common humanoid designs seem to align these, but I am not sure how important it is to ease of movement. How do you plan to implement software to drive the legs. I think aligning the axis would help a lot to simplify inverse kinematics if you choose an algorithmic approach to motions.
Your ankle pitch and roll axis are not aligned, and also the hip pitch and roll axis. Most common humanoid designs seem to align these, but I am not sure how important it is to ease of movement. How do you plan to implement software to drive the legs. I think aligning the axis would help a lot to simplify inverse kinematics if you choose an algorithmic approach to motions.
