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 Read more
![python humanoid robot walking : position control [1] : get inverse matrix (6 x 6) for inverse kinematics, using matlab jacobian inverse for IK 1 darwin op3 walking inverse matrix jacobian](https://i0.wp.com/openpj.co.kr/wp-content/uploads/2023/09/darwin-op.png?resize=360%2C240&ssl=1)


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