Flatpack: step 1 of 30

Model the geometry

Give every link a frame. Write forward kinematics, an inverse kinematics solver and the Jacobian so software can move between joint angles and tool poses.

Brings together

• Coordinate frames and transforms
• Forward kinematics
• Inverse kinematics
• Jacobian and singularities

Makes

Kinematics

Step 2: Choose the hand ›

Every step

1. Model the geometry
2. Choose the hand
3. Size and test one arm joint
4. Choose and prototype the arm
5. Lay out the body
6. Size the gearbox
7. Build the actuators
8. Power and wire it
9. Give it body sense
10. Give it eyes
11. Calibrate
12. Fit the sensors
13. Tune the joint controller
14. Close the servo loop
15. Set contact behaviour
16. Control the whole body
17. Build the filter
18. Add odometry
19. Map the place
20. Know where it is
21. Detect objects
22. See the scene
23. Plan paths
24. Teach a policy
25. Decide what to do
26. Make it safe
27. Validate safety
28. Bridge sim and reality
29. Integrate and test
30. Ship the robot

An AI agent wrote this map with the teardown skill. It can contain errors: check the sources before you rely on a part. About and legal