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inverse kinematics for hexapods
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README.md

hexapod_ik

(ROS-ready) library to use inverse kinematics on our hexapods. This library is used in hexapod_driver.

Authors

  • Author/Maintainer: Dorian Goepp

Dependencies

  • trac_ik: Hardware interface for ros_control and the Dynamixels actuators
  • orocos_kdl: kinematics and dynamics library (provided with ROS)

Documentation

MultipodInverseKinematics

This class is hosted in multipod_ik.hpp and holds all the code needed to make direct and inverse kinematics computations for a multi-legged robot (three joints per leg). The API is very simple so we beleive that the commented header file is sufficient as a documentation.

Test program

We wrote multipod_ik to check the code to be used with our hexaforce robot. We chose to keep it as it might be useful for later development of this library.

See hexapod_description for the URDF files needed to run these tests.

LICENSE

CeCILL

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