Bioloid humanoid robot controlled by BeagleBone Black board

This is my Bioloid humanoid robot from Robotis, in this case I'm controlling it using a BeagleBone Black embedded system instead of its propietary controller. I created the routines for arms, legs and hips to move based on inverse kinematics equations, trajectory generators, and some high level behaviours.
Information about the project here: http://onecuriousrobot.blogspot.com/
Detailed information is here (in spanish): https://github.com/jcbrenes/Bioloid-Locomotion-API/blob/master/Memoria%20TFM%20-%20JCB.pdf
All code used is here: https://github.com/jcbrenes/Bioloid-Locomotion-API

Видео Bioloid humanoid robot controlled by BeagleBone Black board канала JC Brenes