8 Jul
2023
8 Jul
'23
11:20 p.m.
ok, trying to think about step planning. -> we could for example start by assuming a branch opens for the lifting of each foot -> for each branch, we could imagine moving the robot's center of mass along a planned path - as this motion happens, inverse kinematics will adjust the feet that are supporting the robot's weight. at some point, a boundary will be hit where the IK cannot be solved. this is the limit of how far the robot can travel without lifting another foot. - additionally, as the robot's center of mass