Bioloid Humanoid Kinematics & inverse kinematics?

[noaa99]

Hello. I'm a beginner to study biped robot.
And I bought Bioloid Comprehensive kit and I'd like to control with another board(EZ-X5).
First of all, I'd like to solve it's Kinematics(DH-parameters) and Inverse kinematics. and then to move the joint angle what I solved values. I want to know about the information about Inverse Kinematics of Bioloid robot.
Please Help~ Thanks.

[limor]

Interesting Linux board: http://falinux.com/zproducts/index.php
Probably no one knows about this project outside of Korea.

We usually like to use Gumstix.com as a high-end embedded solution.

Please search gumstix on this forum as it may help to address connectivity with the Bioloid. The PXA255 can't run the UART at 1mbps so you can't connect it directly to the Bioloid bus unless you reduce the buad rate of the servos...

Regarding inverse kinematics, there is a complete set of 3D models and intertial moments of all Bioloid parts done at university of Lisbon.

anyway, check out the wiki for all the links:
http://robosavvy.com/site/index.php?opt ... is_bioloid

[noaa99]

Thank you limor. I'm searching Inverse Kinematics the site you mentioned. But I'm sorry that I didn't find exact Inverse Kinematics solution. Could you link the web site? plz.~

[tom_chang79]

Many 3D animators that animates humans and humanoid characters uses kinematics and inverse kinematics to make their characters look fluid (rather then robot-like )

I don't know any books on top of my head but I'll be looking for it too, will let you guys know if I find any good books on it. Let me know if you find any good literature on it, I'm always interested in this topic...

[limor]

there's no inverse kinematics calculations but there are all the inertia parameters of all the parts of the bioloid.
what would you like to do exactly with the bioloid using inverse kinematics ?

[noaa99]

Actually, I made the trajectory of hip, ankle and knee when biped robot is walking stably. And then I should calculate the Inverse Kinematics with the above parameters because I'd like to test the walking movement with the trajectory what I made. To do the job, I need the angle of each joint. So I have to calculate the Inverse Kinematics the Bioloid robot. Is this job a right way?

[limor]

Interesting challenge..
Here is an idea that may work:
- capture all the servo positions in the initial pose of the humanoid
- import the Bioloid humanoid skeletal model into Blender 3D (wiki has link to 3D model in vrml (wrl) with skeleton info)
- match the initial pose of the Blender robot with your initial pose.
- follow instructions in this link to create the trajectory / constraint path for the IK.
- finally the skeleton's angles in the resulting animation are then translated into a bgp file for Bioloid's Behaviour-Control program.

voila!

(easier said than done )