Awesome
hexapod_ik
(ROS-ready) library to use inverse kinematics on our hexapods. This library is used in hexapod_driver.
Authors
- Author/Maintainer: Dorian Goepp
Dependencies
- trac_ik: Hardware interface for ros_control and the Dynamixels actuators
- orocos_kdl: kinematics and dynamics library (provided with ROS)
Documentation
MultipodInverseKinematics
This class is hosted in multipod_ik.hpp and holds all the code needed to make direct and inverse kinematics computations for a multi-legged robot (three joints per leg). The API is very simple so we beleive that the commented header file is sufficient as a documentation.
Test program
We wrote multipod_ik to check the code to be used with our hexaforce robot. We chose to keep it as it might be useful for later development of this library.
See hexapod_description for the URDF files needed to run these tests.