LI09 lower part of body Design

KHR-1, KHR-2HV, KHR-3HV, ICS servos, RCB controllers and other Kondo products
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LI09 lower part of body Design

Post by leonids » Tue Sep 13, 2011 4:55 am

Post by leonids
Tue Sep 13, 2011 4:55 am

it is lower part of my robot LI09's body design. welcome to discuss and give me evaluate, I will pay attention in your every word and use my poor english to answer you~It is because my english is really poor...

http://leonids1217.wordpress.com/2011/0 ... 09-design/

Image
it is lower part of my robot LI09's body design. welcome to discuss and give me evaluate, I will pay attention in your every word and use my poor english to answer you~It is because my english is really poor...

http://leonids1217.wordpress.com/2011/0 ... 09-design/

Image
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Post by i-Bot » Tue Sep 13, 2011 11:23 am

Post by i-Bot
Tue Sep 13, 2011 11:23 am

I see you choose waist yaw instead of individual hip yaw. Is this normal on KHR ?

Your ankle pitch and roll axis are not aligned, and also the hip pitch and roll axis. Most common humanoid designs seem to align these, but I am not sure how important it is to ease of movement. How do you plan to implement software to drive the legs. I think aligning the axis would help a lot to simplify inverse kinematics if you choose an algorithmic approach to motions.
I see you choose waist yaw instead of individual hip yaw. Is this normal on KHR ?

Your ankle pitch and roll axis are not aligned, and also the hip pitch and roll axis. Most common humanoid designs seem to align these, but I am not sure how important it is to ease of movement. How do you plan to implement software to drive the legs. I think aligning the axis would help a lot to simplify inverse kinematics if you choose an algorithmic approach to motions.
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