#Inverse Kinematics (4)

Inverse Kinematics and Foot Locking: From Two-Bone IK to Offline Slide Removal

A practical recipe for foot sliding: solve the leg with soft-clamped two-bone IK and toe orientation, lock the toe target during contacts with inertialization, annotate contacts automatically, then use a position-based dynamics-style offline pass to distribute corrections. The key insight is velocity preservation, not sticking to the ground, and the toe—not the heel—is what should be locked.

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Inverse KinematicsFoot LockingAnimationMotion MatchingCharacter Animation

reubenstr/ElectroPup

ElectroPup: a 12-DoF 3D-Printed Open-Source Quadruped

ElectroPup is a 4.5 kg, 12-DoF DIY quadruped: twelve MG4010E-i10v3 CAN BLDC actuators split into four per-leg CAN segments, a Raspberry Pi 5 for compute, and a single ~7,700-line pure-Python service with no ROS in the stack. The repository publishes OnShape CAD, two KiCad v8 boards, a bill of materials, measured weights and power draw (21.6 W suspended, 33.8 W standing), plus MuJoCo simulation, a React Native/Expo browser UI, four Bezier-foot gaits, and a full build guide. The author also documents known gaps: no license file, no contact sensing, and a simulation model without approximate masses or inertias.

Quadruped robotsOpen SourceBLDC Motor

Python3542

0:49

PyRoki: Modular GPU-Accelerated Robot Kinematic Optimization in Pure Python

@IlirAliu_ · 255 views · 2026-09-07

PyRokiInverse KinematicsTrajectory Optimization

0:10

Buildo Open-Sources Contact-First Dexterity Simulation Stack

@vipulsaini594 · 243 views · 2026-09-01

StarforgeRoboticsBuildoDexterous Manipulation