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http://dx.doi.org/10.5302/J.ICROS.2003.9.12.1026

A Study on the Inverse Kinematics for a Biped Robot  

성영휘 (금오공과대학교 전자공학부)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.9, no.12, 2003 , pp. 1026-1032 More about this Journal
Abstract
A biped walking robot which is developed as a platform for researching walking algorithm is briefly introduced. The developed walking robot has 6 degrees of freedom per one leg. The origins of the last three axis do not intersect at a point, so the kinematic analysis is cubmersome with the conventional method. In the former version of the robot, Jacobian-based inverse kinematics method is used. However, the Jacobian-based inverse kinematics method has drawbacks for the application in which knee is fully extended such as stair-case walking. The reason far that is the Jacobian becomes ill-conditioned near the singular points and the method is not able to give adequate solutions. So, a method for giving a closed-form inverse kinematics solution is proposed. The proposed method is based on careful consideration of the kinematic structure of the biped walking robot.
Keywords
inverse kinematics; closed-form solution; biped walking robot; staircase walking;
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Times Cited By KSCI : 3  (Citation Analysis)
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