3 ms·
The kinematics are the tricky part. Trajectory planning is still quite difficult today even with our speedy modern CPUs
by andbberger 6y ago
The kinematics are the tricky part. Trajectory planning is still quite difficult today even with our speedy modern CPUs
- TaylorAlexander 6y agoTrajectory planning what? Actually solving the inverse kinematics of 3dof manipulators is trivial. I did so 20 years ago using a Basic Stamp microcontroller for my 18 servo hexapod. I was 15. Planning foot placement is a bit harder but I would say the compute heavy part today would be perception.
- andbberger 6y agoTrajectory planning for foot placement.
- TaylorAlexander 6y agoI think of “trajectory planning” as: you have a known target position and you have to figure out how to get there. That’s not hard with a 3dof manipulator. But figuring out where to place the feet, which I consider a perception problem, is very hard. But I think that’s what you’re talking about and I just use different terminology. That’s why I was confused. Sorry if I came off wrong.