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Some work with Bittle

I'm excited to share my recent works with Bittle. I derived and implemented some simple gaits and inverse kinematics from scratch (without the brilliant OpenCat library). It might be useful to robotics starters like me.

I also shared my code on github https://github.com/bstars/MyPetoi/tree/main

3 comments

3 Comments

este este

Aug 11

This is nice work - thanks for posting!

I am having some trouble though reading the text and formulas in the MyPetoi.pdf file. Any chance these could be typed up rather than presenting it as written script to make it easier to read? Also, can you share any references you used to establish the frame references and to derive the formulas you list?

Edited

Jiarui Wang

Aug 14

Replying to

Hi este,

Sorry for the late response, have been busy recently. I'll see if I can get the time to typeset it later.

The coordinate frames I used are not "standard", I just created the coordinates with I found to be easy to work with (since each leg has only 2 DOF). The coordinate transformation is standard homogeneous transformation in robotics. For the inverse kinematics for each leg, please check https://www.youtube.com/watch?v=qFE-zuD6jok. (Please not that in the video each leg has 3 DOF, so the petoi case is simpler).

Hope it helps.

Best,

Jiarui

este este

Aug 14

Replying to

Thanks for the additional info!

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