Improved Algorithm for Solving Inverse Kinematics of Biped Robots

Inverse kinematics is an important basic theory in walking control of biped robot. This study focuses on the parameter setting using the improved algorithm in inverse kinematics. By analyzing the process of whether can the robot legs arrive at the expected positions from different initial positions, the parameter value range is determined. It must be noted that, the parameter values exhibit clear physical significance. The robot legs can move stably within the allowable value range. Furthermore, the superiority of the improved algorithm was validated by 3D simulation of leg motion. Moreover, the present study can provide theoretical basis for optimizing the leg motion of biped robot and developing the related prototype.