Question about IK of Cassie #4
Description
Hi, I'm quite impressed with the performance of Cassie via the youtube video and I am also working on the researches of the gait pattern of biped robots. I try to read some relative papers and the codes but found nothing about inverse kinematic of Cassie. How do you deal with the IK problem? I tried to solve IK with DH parameters but failed. Do you control the angle of joints directly? If so, how do Cassie accomplish motions like walking or squat? Any information would be much appreciated. Thank you.