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From The Depths >  创意工坊 > Duker 的创意工坊
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Bipedal Mech using Inverse Kinematics
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Blueprints: #blueprint, AI, Missile, Small
标签： land
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10 月 25 日 上午 7:37
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Duker
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Bipedal Mech using Inverse Kinematics

描述
Note: This is an experimental craft for further development and case study, not a finished combat unit

Bipedal mech controlling its legs using the most simplified but still true inverse kinematics I could find

~19m/s move speed
Does not explain the IK math, useful search term if you want to dig into it is "2 link planar ik"
Can fall on occasion (usually not in combat though)
Only tested on flat ground
No srimech
If spawned too far up it _will_ faceplant
5 条留言
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McTec Ind. 10 月 30 日 上午 7:39 
Oh nice breadboard you got there. Impressive. Always nice to see more mechs.^^
Sir Rattus 10 月 30 日 上午 4:34 
Update: I stabilized it completely with gyroscopes, better PID and feet settings, and by tweaking walks cycle speed and such. Rock solid. It works almazing. 11m/s stable speed. Although, it still tips over when standing still. I think it would greatly benefit from a proper standing pose. I might be able to implement it by myself though though. Thank you!
Sir Rattus 10 月 30 日 上午 4:12 
I usually add a gyroscope inside my mechs to keep them stable both in the air and on land. If you ever get tired of it tipping over, just add a couple of spinblocks with weights, that respond to pitch yaw and roll
Sir Rattus 10 月 30 日 上午 4:00 
Okay, so when i've put it on the ground, it started freaking out and eventually fell due to PID and feet settings. Idk how it walks 19 m/s in your world, but once i somewhat stabilized it, it walks 8m/s, but feet phaze through the ground, so i lowered their rotation speed. Now it's stable, but walks like 5m/s. Still amazing. Have never done legs like this
Sir Rattus 10 月 30 日 上午 3:33 
Amazing. My mechs only walk like 5-10 m/s. Gonna test it now