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Differential inverse kinematics controller on a Go1 quadruped regulating the pose of the root body and the position of the feet.

Kevin Zakka

19,708 subscribers

38,590 Aufrufe • vor 2 Jahren •via X (Twitter)

Bildung Kunst Wissenschaft & Technologie

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6 Kommentare

Profilbild von Nikhil Devraj

Nikhil Devrajvor 2 Jahren

looks like someone was bored today

Profilbild von Haoyang Li

Haoyang Livor 2 Jahren

Great job! differential Ik is quite important, especially for the teleoperation. Have you tried other complicated tasks? I think it should now support setting weights for different joints when computing ik and optimize something like the “task-oriented” ik

Profilbild von Mateo Guaman Castro

Mateo Guaman Castrovor 2 Jahren

this is really cool! do you have code available for it?

Profilbild von Kevin Zakka

Kevin Zakkavor 2 Jahren

Cleaning it up, will put it on mjctrl as soon as I'm done!

Profilbild von All India Robotics Association

All India Robotics Associationvor 2 Jahren

Wowww!!! This is super cool, will be sharing this to our folks too.

Profilbild von Hrishbh Dalal

Hrishbh Dalalvor 2 Jahren

where are you simulating it? mujoko or unreal engine?

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