QuadrupedInverseKinematic

Inverse Kinematic of Quadruped Robot Leg

• The code in this repository provides a set of console version of the quadruped robot inverse kinematic algorithm. Through the interaction with the console, the quadruped robot inverse kinematic algorithm can be easily understood. The following shows some parameters and definition of coordinate system in the code.

• The positive directions of gamma,alpha and beta is the direction indicated by the arrow in the figure.
• The picture shows the right legs （RF and RB） of quadruped robots.

• If you want to deploy it in your project, you can remove all input and output stream statements in order to simplify the code and save resources.
• Quadruped robot inverse kinematic algorithm and quadruped robot forward kinematic algorithm are often used together, the link of quadruped robot forward kinematic algorithm is given below:
  https://github.com/Technician13/QuadrupedForwardKinematic

• Brief description of the files in the repository:

• QuadrupedInverseKinematic.cpp contains all definitions of functions.
• QuadrupedInverseKinematic.h contains all declaration of functions and classes.
• main.cpp contains all instantiations of classes.