幾何学的手法による二足歩行
Bipedal locomotion using geometric techniques
行列やヤコビアンを使わず、幾何学的手法のみで逆運動学を解く二足歩行アルゴリズムを提案し、基礎から解説した。
著者: Antonio Losada Gonzalez, Manuel Perez Cota
分類: cs.RO
原文アブストラクト
This article describes a bipedal walking algorithm with inverse kinematics resolution based solely on geometric methods, so that all mathematical concepts are explained from the base, in order to clarify the reason for this solution. To do so, it has been necessary to simplify the problem and carry out didactic work to distribute content. In general, the articles related to this topic use matrix systems to solve both direct and inverse kinematics, using complex techniques such as decoupling or the Jacobian calculation. By simplifying the walking process, its resolution has been proposed in a simple way using only geometric techniques.