3 ms·
They would have specified target trajectories. Then a solver tries to make that happen.
by dbcurtis 6y ago
They would have specified target trajectories. Then a solver tries to make that happen.
- dbcurtis 6y agoNow that I think about it, all the robots have synchronized trajectories. There has to be some kind of time sync among the robots also.
- rhn_mk1 6y agoThat answers the recording part, but is this the abstraction the programers use? Setting trajectories manually would be hard to do while keeping them balanced, especially with moves involving legs.
- dbcurtis 6y agoA trajectory is a series of time-stamped poses, specified in world coordinates. As to where they come from, yes you need tooling to keep from going crazy. At Anki, they used animation industry tools, so I am told. The solver handles the balance part in real time, using current sensor input.