A review and analysis of the trajectory gait generation for humanoid robot using inverse kinematic

摘要

In this paper, a control strategy based on the Inverse Kinematic (IK) is proposed for gate generation for a two - legged humanoid. According to this approach, a pattern oscillation plan is designed by some of walking basic feature such as: the sole-maximum height of the ground, time of walking and etc, at the first time. Then all of the body coordination position (X, Y, Z) - Joints and links - was adapted from the oscillation plan using Forward Kinematic (FK), after determination positions, every joint angle has been calculated using inverse kinematic and is sent to every joint motor controller as a specifics Command string periodically. For determination positions, a trajectories must be designed that shown sole coordination(X, Y) at the space. In other to implementation this algorithm, we use a model of the humanoid robot that is called Nao Robot and implement our algorithm on its simulation environment (that is used for international soccer humanoid robotic simulation participates, its name is "rcssserver3D").