Name
Abstract | ||
|---|---|---|
This paper examines the forward and inverse kinematics of a small-sized low-cost commercial humanoid robot providing closed form solutions for both kinematic problems. The analyzed robot has 16 degrees-of-freedom: five for each leg and three for each arm, actuated by sixteen digital servomotors, like those used in aero-modelism. Each leg is a serial kinematic chain that uses three degrees of freedom to control the position of the foot, and two more to orient it,resembling a human ankle. Unfortunately, this ankle has been designed with an offset that prevents a direct decoupling of the position and orientation of the foot, situation that generally leads to the lack of a closed form solution in most cases. The proposed solution deals with this problem; it uses a geometrical approach that effectively solves the inverse kinematic problem by means of an analytical algorithm. |
Year | DOI | Venue |
|---|---|---|
2009 | 10.1109/CONIELECOMP.2009.50 | CONIELECOMP |
Keywords | Field | DocType |
closed form solution,analytical algorithm,proposed solution deal,geometrical approach,inverse kinematics,direct decoupling,human ankle,small-sized humanoid robot,inverse kinematic problem,serial kinematic chain,kinematic problem,humanoid robots,foot,kinematics,degree of freedom,forward kinematics,robot kinematics,leg,humanoid robot | Kinematics,Inverse kinematics,Computer science,321 kinematic structure,Control theory,Robot kinematics,Control engineering,Forward kinematics,Robot,Kinematic chain,Humanoid robot | Conference |
Citations | PageRank | References |
0 | 0.34 | 1 |
Authors | ||
2 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| J. M. Ibarra Zannatha | 1 | 0 | 0.34 |
| R. Cisneros Limon | 2 | 8 | 3.64 |