Bipedal locomotion using geometric techniques

TL;DR

This paper presents a simplified geometric approach to bipedal walking algorithms, avoiding complex matrix methods and Jacobian calculations, aiming to clarify the underlying principles of inverse kinematics for legged robots.

Contribution

It introduces a novel geometric method for solving inverse kinematics in bipedal locomotion, simplifying the process compared to traditional matrix-based techniques.

Findings

Simplified geometric inverse kinematics method for bipedal walking

Clear explanation of geometric concepts behind leg movement

Potential for easier implementation in robotic systems

Abstract

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.