Analytical Inverse Kinematics

Analytical Inverse Kinematics

1. BACKGROUND

   • The Aldebaran NAO Humanoid Robot
   • Transformation Formalism
   • Denavit–Hartenberg Convention

2. SOLVING THE INVERSE KINEMATICS PROBLEM

   • Inverse Kinematics Methodology
     • 1. Construct the numeric transformation
     • 2. Construct the symbolic transformation
     • 3. Form a non-linear system
     • 4. Manipulate both sides
     • 5. Use geometry and trigonometry
     • 6. Solve the non-linear system:
     • 7. Validate through forward kinematics
   • Applicability

3. RESULTS

   • Real-Time Performance
   • Demonstration I: Basic CoM Balancing
   • Demonstration II: Pointing to the Ball

4. INVERSE KINEMATICS SOLUTION

   • Inverse Kinematics for the Head Chain
   • Inverse Kinematics for the Left Arm Chain
   • Inverse Kinematics for the Right Arm Chain
   • Inverse Kinematics for the Left Leg Chain
   • Inverse Kinematics for the Right Leg Chain