IK for humanoid robot

[eirtech]

Hi,
Thanks again for your nice work.

I want to calculate IK for humanoid robot. I want to consider for example hip joint as a fix joint (or any other joint as I want) and then calculate IK. I wanted to know how could I define it in Pinocchio?

Thanks in advance.

[stephane-caron]

Pinocchio provides all the building blocks to implement inverse kinematics. You can look for instance at Pink which implements a weighted-tasks approach with quadratic programming (NB: I'm the original developer and a contributor to that project). Pink has two (similar) humanoid examples:

• humanoid_draco3.py for the DRACO 3 humanoid:

humanoid_draco3.mp4

• humanoid_jvrc.py for the JVRC-1 humanoid.

You can use Pink as a library, or look into its code to see how things are done and implement your own IK. Hoping this helps!

[eirtech]

Thanks for your quick response. It would of course help.