Bipedal locomotion using geometric techniques
Fuente:
arXiv
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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Materias: | |
| Acceso en línea: | |
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| _version_ | 1866913485590364160 |
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| author | Gonzalez, Antonio Losada Cota, Manuel Perez |
| author_facet | Gonzalez, Antonio Losada Cota, Manuel Perez |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2408_16726 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Bipedal locomotion using geometric techniques Gonzalez, Antonio Losada Cota, Manuel Perez Robotics 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. |
| title | Bipedal locomotion using geometric techniques |
| topic | Robotics |
| url | https://arxiv.org/abs/2408.16726 |