Calculating the Denavit-Hartenberg parameters for InMoov

AndreasTr's picture

To make better use of the InverseKinematics service, I startet defining the necessary parameters for the right arm, according to the Denavit-Hartenberg convention.

For this task, I used the 3d InMoov V1 SketchUp-Model

First, here is the definition of coordinate systems:

BodyPart service for a flexible skeleton ( poc )

moz4r's picture

Almost cooked, this is very inspired by InMoov service, for a universal service, for the next InMoov service...
Kwatters pointed the interest to use a tree to identify the skeleton. I have no more cofee, but I learned cool things!

Image result for tree java

What is the goal

Language - so important, so many options, so much confusion - what to do ?

GroG's picture

Yep, the tower of babel ..  
We live in the age of Information and Information Exchange...  humans are spongey and adaptable and evolve communication all the time ..

And if everyone is using different interfaces ... how can we understand ?

Status update on Willie:

MikeG's picture

  Willie has reached that station in his life where he can stand on his own feet. he is essentially complete physically and is running pretty well if the voice recognition will work consistently.

Summary about current languages wip

moz4r's picture




Many of mrl services use direct or indirectly language as a parameter ( or should that is the goal )

Ex, Webbit for voice recognition, chatbot for a corresponding set and derivated, speech tts to choose a good voice, translator service etc …

Lots of things can derive from this logic so we can put more intelligence ( user country for weather service, locale money, metric system for measurement etc … )

VivaTech some pics

moz4r's picture

Great day to meet some friends at the turn of the aisles and discover cool things. Special thanks for InMoov stand that was here and represent open source things among the crowd maybe the most important thing.

Pepper army for the reception


InMoov Touch Sensor (Full Bridge Strain Gauge)

Gareth's picture

Here I present a "Touch Sensor" for InMoov's finger tip

Its uses a Full Bridge Strain Gauge circuit, this consists of 4 resistive strain elements and an instrumentation operational amplifier.

Basic Full Bridge :-

[1] Two active elements (one placed on top surface , other placed on bottom surface)