A Novel General Inverse Kinematics Optimization-Based Solution for Legged Robots in Dynamic Walking by a Heuristic Approach
This work presents a new optimization-based solution to the Inverse Kinematics Problem (IKP) of legged robots, including a modified Walking Pattern Generator that automatically avoids singularity configurations regarding position. The approach uses a numeric constrained problem solved with heuristic...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10006811/ |