Title :
Explicit Analytic Solution for Inverse Kinematics of Bioloid Humanoid Robot
Author :
Nunez, J. Victor ; Briseno, Abraham ; Rodriguez, Dora A. ; Ibarra, J. Manuel ; Rodriguez, Victor M.
Author_Institution :
Univ. Politec. de Sinaloa, Mazatlan, Mexico
Abstract :
The aim of this paper is to explain basic kinematic concepts applied to humanoid robots. The structure of a Bioloid with three degrees of freedom (DoFs) for the arms and six DoFs for the legs is considered. The solution of direct and inverse kinematics (IK) is presented for both arms and legs. Our main contribution is to solve in a detailed manner the legs IK because this is the basis for planning walking motions.
Keywords :
gait analysis; humanoid robots; legged locomotion; path planning; robot kinematics; Bioloid humanoid robot inverse kinematics; DoF; IK; arms; degrees of freedom; direct kinematics; explicit analytic solution; legs; walking motion planning; Hip; Joints; Kinematics; Legged locomotion; Pelvis; Robot kinematics; Bioloid; Humanoid; Inverse Kinematics;
Conference_Titel :
Robotics Symposium and Latin American Robotics Symposium (SBR-LARS), 2012 Brazilian
Conference_Location :
Fortaleza
Print_ISBN :
978-1-4673-4650-4
DOI :
10.1109/SBR-LARS.2012.62
