Part 3 (Final) - How to Solve Inverse Kinematics of a 4 Leg Robot

This is part 3 of the 3 video series that explains the inverse kinematics of a 4-leg robot (but can be used for robots with any number of legs).

Apologies for the audio; I have accidentally selected the wrong setting...

Part 1: Single Leg IK
Part 2: Full Body IK
Part 3: Implementation of the Full Body IK in Python

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[danyaltalha]

How have you implemented this robot using ROS? I am just starting an extremely similar project and don’t know where to start. Did you use a URDF and simulate the robot in ROS? Is there a different way to do things? Thank you for your help.

[rhyssmcmullan]

how can i alter the function to move the foot position from under the hip joint to under the knee joint

[keneukwueze]

Nice... but I think you should fix your audio settings, it outputs on one channel/ear