[ODE] Inverse Kinematics

[Proyecto de Grado - Construcción de Robots Bípedos]

Hello,

    We are using ODE for IK. We are working on a biped robot for our degree 
thesis and we also have a walking biped simulated with ODE. What we do when 
we want to know angles for a specific foot position/rotation is adding a 
fixed joint between the trunk and the world and another fixed joint between 
each foot and the world. We then destroy the joint for one foot and move it 
a little, create the joint again and then let the simulation adjust to it. 
Something important is puting a stop to the knee so it doesn't extend 
completely, this trick is used with other IK programs too, it helps the 
program to find out what to do. I hope it helps...

Regards,
    Damián Lezama
    Construcción de Robots Bípedos: www.fing.edu.uy/~pgrobip


----- Original Message ----- 
From: "Chunky Kibbles" <chunky at icculus.org>
To: <ode at q12.org>
Sent: Friday, December 10, 2004 5:05 PM
Subject: [ODE] Inverse Kinematics


> Has anyone used ODE for any inverse kinematics?
>
> Here's what I want to do:
>
> This is just to animate arms. I have a program that outputs hand
> positions [think "juggling"], and that's it [for right now].
>
> I scale that suitably to the size of my model in a 3d engine [think
> "torque"]. Is it possible to use ODE to do the IK for the elbows [the
> rest of the animation is mostly moot, for the time being]?
>
> Ideally, what I'd like, is to set up something like:
>
> Consider the [character] body to be body0 in ODE. [ie, the world].
> Attach upper arms to that [cylinders] using hinge2 joints. To those,
> attach forearms [also cylinders] with hinge joints. Finally, have the
> hands [spheres] attached to those using ball & socket joints.
>
> Can I just move the hands to new positions and get ODE to work out
> where the elbows should be?
>
> Thank-you very much,
> Gary (-;
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