Inverse Kinematics of a Humanoid Robot with Non-Spherical Hip: A Hybrid Algorithm Approach. (25th April 2013)

• Record Type: Journal Article
• Authors: Limón, Rafael Cisneros; Ibarra, Zannatha Juan Manuel; Armada, Rodríguez Manuel Ángel
• Is Part Of: International journal of advanced robotic systems. Volume 10:Number 4(2013)
• Publication Date: 2013-04-25
• Subjects: Humanoid Robots -- Inverse Kinematics -- Non-Spherical Hip; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/55464
• Languages: English
• ISSNs: 1729-8806

Abstract

This paper describes an approach to solve the inverse kinematics problem of humanoid robots whose construction shows a small but non negligible offset at the hip which prevents any purely analytical solution to be developed. Knowing that a purely numerical solution is not feasible due to variable efficiency problems, the proposed one first neglects the offset presence in order to obtain an approximate "solution" by means of an analytical algorithm based on screw theory, and then uses it as the initial condition of a numerical refining procedure based on the Levenberg-Marquardt algorithm. In this way, few iterations are needed for any specified attitude, making it possible to implement the algorithm for real-time applications. As a way to show the algorithm's implementation, one case of study is considered throughout the paper, represented by the SILO2 humanoid robot.