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--- ires_journal4 [2018/07/01 18:40] – yuhanghe
+++ ires_journal4 [2018/07/01 18:40] – yuhanghe
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 The next step would be to use inverse kinematic and kinematic mapping to transfer these motions into robot joint angles. With the help of Hubo Lab members and Hyun Lee, I was able to find some examples of inverse kinematic functions with Hubo 2. I am currently studying these functions and learning how to use them to accomplish my goal.
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 Additionally, one Hubo Lab member asked me to collaborate with him on writing a tutorial on their wiki page for the process from installing Ubuntu OS and Xenomai to installing Choreonoid Simulator and writing a new PODO ALProgram. I will also upload the information to our wiki page once I am done with the process.