Humanoid-Bipedal
python humanoid robot walking : position control [1] : get inverse matrix (6 x 6) for inverse kinematics, using matlab jacobian inverse for IK
use matlab, get inverse jacobian matrix , robot is darwin-op3 above image is not op3 , op get jacobian matrix 1. Create symbolic 6 by 6 matrix 2. get determinant of 6 by 6 matrix you can copy this to python, but keep in mind that using this code directly Read more