Closed-form solutions of inverse kinematic models for the control of a biped robot with 8 active degrees of freedom per leg

摘要: Abstract This paper presents the closed-form solutions of IKMs (Inverse Kinematic Models) anthropomorphic biped robot HYDROiD which has 8 active DOFs (Degrees Of Freedom) per leg. From a general point view, six are developed in this article. Moreover, new approach to resolve redundancy and particular DOF distribution is suggested. validated proves efficiency according different aspects. Firstly, increase workspace flexibility offered during walking motion discussed. Furthermore, coordination between two internal/external leg allows reduction joint range energy consumption. The last presented through various simulations non-redundant redundant cases. To do that, an existing control strategy, at Laboratoire d'Ingenierie des Systemes de Versailles (LISV), adapted, improved used perform motion. It uses homogeneous transformation matrices for high level control, takes into account gait planning, robot's structural parameters sensor measurements.