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Question Inverse Kinematics on Humanoid robots with movement constraints

Discussion in 'Animation' started by amitghimire, Oct 11, 2022.

  1. amitghimire


    Jun 15, 2022
    Hi I am trying to animate humanoid robot(pepper robot) in VR using pepper robot model as an avatar for human controller using either VR or Kinect. I want to be able to animate the motion with the limit of pepper joints dofs as described in this link here.

    I am not sure how to achieve this. I thought of using unity's IK but I am not sure how to implement the motion constraints in the IK system. I am also trying Muscles and settings tab in avatar configuration but I am not sure how the muscle settings map to the robot joint limitation. For example: For pepper robot we have shoulder joint limitation in pitch and yaw in angles but in the muscle settings tab there is shoulder down-up, front-back. How to I figure out the mapping between these settings and the robot joint configuration. Also does this method work for my intended purpose?
  2. BelyakovM


    Nov 6, 2021
    Did you find any solution?