Implementation of KDL Inverse Kinematics Routine on the Atlas Humanoid Robot

摘要

In this work, we describe the implementation of an inverse kinematics (IK) routine, from the open-source Kinematics and Dynamics library, on the Atlas humanoid robot. We begin by discussing the theory behind the IK routine and then give details of its implementation. Results demonstrate the robustness, accuracy, and speed of the IK routine. An average success rate of around 85% in solving for IK and an average time of less than 2.4 milliseconds per solve was observed. We discuss the possible reasons for the low success rate and present our plans to develop a more robust inverse kinematics solver.