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View Code? Open in Web Editor NEWBiped Kinematics code
License: MIT License
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サイズ(パラメータの範囲は)
| \ | range | step width | pattern |
|---|---|---|---|
| x_target | -300 mm ~ 300 mm | 10 mm | 61 |
| cog_x | -60 mm ~ 60 mm | 3 mm | 41 |
| vel_x | -400 mm/s ~ 400 mm/s | 20 mm/s | 41 |
Inverse kinematics algorithm to handle singularities (LM法による逆**学)の実装
NR法では特異点状態になったとき計算結果が不安定になる.
英語版ヒューマノイドロボットの特異点を含む逆**学(LM法)をC++で実装する.
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