Walking Arm Robot (Swithing between two base links)

asked 2022-01-31 06:24:14 -0500

staycoolish gravatar image

updated 2022-02-01 02:15:20 -0500

gvdhoorn gravatar image

Good afternoon,

I'm trying to make a walking robot simulation, but with an arm robot. In other words, its two ends correspond to feet . I've completed the Urdf of the robot, here it is:

image description

I'm planning to use a position control approach to simulate walking, and for this purpose, I'm considering MoveIt . My question is, is it possible to change the base link dynamically? If you have any suggestion, that would be great...

Thanks,

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