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首页> 外文会议>2013 13th International Conference on Autonomous Robot Systems >Complete analytical inverse kinematics for NAO
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Complete analytical inverse kinematics for NAO

机译：完整的NAO解析逆运动学

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摘要

The design of complex dynamic motions for humanoid robots is achievable only through the use of robot kinematics. In this paper, we study the problems of forward and inverse kinematics for the Aldebaran NAO humanoid robot and present a complete, exact, analytical solution to both problems, including a software library implementation for realtime onboard execution. The forward kinematics allow NAO developers to map any configuration of the robot from its own joint space to the three-dimensional physical space, whereas the inverse kinematics provide closed-form solutions to finding joint configurations that drive the end effectors of the robot to desired target positions in the three-dimensional physical space. The proposed solution was made feasible through a decomposition into five independent problems (head, two arms, two legs), the use of the Denavit-Hartenberg method, and the analytical solution of a non-linear system of equations. The main advantage of the proposed inverse kinematics solution compared to existing approaches is its accuracy, its efficiency, and the elimination of singularities. In addition, we suggest a generic guideline for solving the inverse kinematics problem for other humanoid robots. The implemented, freely-available, NAO kinematics library, which additionally offers center-of-mass calculations, is demonstrated in two motion design tasks: basic center-of-mass balancing and pointing to the ball.
机译：仅通过使用机器人运动学就可以为人形机器人设计复杂的动态运动。在本文中，我们研究了Aldebaran NAO类人机器人的正向运动学和逆向运动学问题，并针对这两个问题提出了完整，精确，解析的解决方案，包括用于实时机载执行的软件库实现。正向运动学允许NAO开发人员将机器人的任何配置从其自身的关节空间映射到三维物理空间，而逆向运动学则提供了封闭形式的解决方案，以找到将机器人的末端执行器驱动到所需目标的关节结构。在三维物理空间中的位置。通过分解为五个独立的问题（头部，两条手臂，两条腿），使用Denavit-Hartenberg方法以及非线性方程组的解析解，使所提出的解决方案可行。与现有方法相比，所提出的逆运动学解决方案的主要优点是其准确性，效率和消除奇异性。此外，我们提出了解决其他类人机器人逆运动学问题的通用指南。已实现的，可免费使用的NAO运动学库，另外还提供了质量中心计算，在两个运动设计任务中得到了演示：基本的质量中心平衡和指向球。

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