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Improved Algorithm for Solving Inverse Kinematics of Biped Robots

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Abstract

Inverse kinematics is an important basic theory in walking control of biped robot. This study focuses on the parameter setting using the improved algorithm in inverse kinematics. By analyzing the process of whether can the robot legs arrive at the expected positions from different initial positions, the parameter value range is determined. It must be noted that, the parameter values exhibit clear physical significance. The robot legs can move stably within the allowable value range. Furthermore, the superiority of the improved algorithm was validated by 3D simulation of leg motion. Moreover, the present study can provide theoretical basis for optimizing the leg motion of biped robot and developing the related prototype.

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Acknowledgements

This research is financially supported by Science and Technology Plan of Guizhou Province of China ([2018]1024 and [2017]1017).

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Authors and Affiliations

  1. School of Mathematics and Statistics, Guizhou University of Finance and Economics, Guiyang, 550025, China

    Chenglin Jing

  2. Library, Guizhou University of Finance and Economics, Guiyang, 550025, China

    Jiajia Zheng

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  1. Chenglin Jing
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  2. Jiajia Zheng
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Correspondence to Chenglin Jing.

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Jing, C., Zheng, J. Improved Algorithm for Solving Inverse Kinematics of Biped Robots. Mobile Netw Appl 27, 975–983 (2022). https://doi.org/10.1007/s11036-022-01912-y

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