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Inverse kinematics on ROS

asked 2017-05-02 20:57:50 -0500

chronius gravatar image


I'm using ROS to control a hexapod 18dof Robot. I was able to create the urdf model of the robot. But now, to make the robot actually move, I know that I need to generate inverse kinematics of each leg and use it to generate gaits to make the robot move. My question is: what library or ros package is best to use for the kinematics ? I study a litle of ros MoveIt but I was not sure how to start to use it.

Thank you all

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answered 2017-05-03 17:43:49 -0500

Have you looked at this MoveIt! tutorial?


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Asked: 2017-05-02 20:57:50 -0500

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Last updated: May 03 '17