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Embed code for: Challenge! making custom walking motion for Robotis Mini
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How I made a custom walking motion.
Challenge! making custom walking motion for Robotis Mini
Default (Built-in) Walking motion looks not so good. So I tried to make a custom walking motion.
Plot action points by real human walking video
Calculate best angle for each joint and each action point.
Making an original program to simluate phsics of Robotis Mini, then calculate best joint angles for each action points.
Load the best motion to R+ Motion (Robotis App)
The simulated walking motion is only loop part, so I had to make a 'start-motion' and an 'stop-motion' by this tool.
Walk like a human!
Finally completed! I took almost 1 month. But ... not straight walking ... curved ....