Inverse kinematics with knee extension walking pattern for bipedal fast walking

Up so far, many biped robots have been developed, but almost all of their walking trajectories are not to try to extend the knee joint of the robot. The main reason is their inverse kinematics can not be calculated because of the singularity when the knee joint of biped robot is completely extended. In this paper, we propose a non-linear programming approach to solve the inverse kinematics with knee extension for fast bipedal walking. The proposed approach is verified by a 3D simulator of biped robot.