KHR2 Walking in Tekkotsu

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Uploaded by on Dec 21, 2010

This took a while to finish. Having five link legs instead of six link legs complicates the kinematic solving mathematics. Instead of making one large five link solver, we solve for a point at the end of the ankle (only trivial 3 link) and then solve the ankle's roll and pitch manually (trivial two link solver).

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