Kinematics of a Robot Dog: Changing point of rotation #ROS #ROS2

Update: the inverse kinematics code with an example using the Jupyter Notebook is available now!

This video shows a new feature of the robot; the ability to rotate the robot's body around any point, in space (as long as it's physically possible) and not only limited to the center of the robot. For example, it can fix its head in the space while other parts are moving around that point (head).

I'm making good progress this weekend and the code is a step closer to being published on my GitHub account. My aim before publishing is to get the robot walking; as of now (20th Feb 2022), I still need to find a way to keep the robot balanced while walking.
Engineer M
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[Tilted]

Hi! Awesome robot! Is the 3D model for printing available somewhere? Thanks!

[oldhabbitsdiehard]

hi, i have been following your four-legged project for a while... i have been able to run your Jupyter notebook code .. i was thinking how can i implement this code with arduino and raspberry pi via serial communication. would be grateful if you Please shed some light regarding this.