Optimum Walking of the Bioloid Humanoid Robot on a Rectilinear Path

Inverse Kinematics Model For a 18 Degrees of Freedom Robot

“…This drives the need to develop an inverse kinematics model for the Bioloid robot of 18 DOF. Speci ically, the problem of the lack of study of the kinematics of the upper train in biped robots arises [1][2][3][4][5][6][7][8][9][10][11][12][13][19][20][21][22][23][24][25][26]. Due to the high number of degrees of freedom and the complexity involved in the calculation of the inverse and forward kinematics equations, most authors have the objective of modeling only the lower train of the robots, either using commercial robots such as Nao with 12 DOF legs [1], HYDROïD which has 8 active DOF per leg [2], Scout [3] and NWPUBR-1 [4] with 12 DOF legs, Ostrich Bionic with 13 DOF legs [5], Cassie with 20 DOF legs [6], or robots wich are author's design with 12 DOF [7][8][9] 10 DOF [10][11][12] and 9 DOF [13].…”

“…The Bioloid robot has been used by the scienti ic community to perform several studies related to kinematics, dynamics and control. Most of the works obtain the kinematic model of the legs, taking into account only one foot as the initial frame [19][20][21][22][23][24]; proposing two different cases where the supporting foot is either the right or the left foot [25], in [26] the torso is taken as the initial frame. In [27] the kinematic model of the robot legs and arms is obtained but uses the torso and pelvis as initial frames.…”