Hello and welcome to another post in the blog series on using FPGAs in Robotics. So far the series has concentrated on the construction of a 17 DOF robotic kit, which was purchased without any assembly instructions. This kit, when fully constructed, will be central to this series of blog posts and should be controlled using one of Altera's Cyclone family of FPGAs on a development board or kit. In this blog post I will finish the construction of the lower limbs and add the waist bracket, which will eventually act as our Inertial Frame when the Denavit-Hartenberg parametric representation of articulated joints is considered.
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