A Frontal Plane Waist Motion With A Limit HipOffset Y Length Using Inverse Kinematics In NAO Humanoid Robot To Align The Center of Mass (COM) And Robot’s Foot

Abstract

Abstract All articles The design of humanoid robot walking motion is achievable only through the use of robot kinematics. In this paper, we study the problem of waist motion (HipOffsetY) in frontal plane for NAO humanoid robot as a starter to make the robot walk. The inverse kinematics allow NAO humanoid robot to record the robot configuration ways to go from the three-dimensional space of the robot to the joint space. The inverse kinematics defined the relation between points in the three-dimensional space (position and orientation) and joint values in the joint space of the robot’s kinematics chain. The simulation using Robotic Simulator Simulation V-REP (Virtual Experimentation Platform) by Coppelia Robotics. Inverse Kinematics can provide the mechanism to transform such a trajectory into another trajectory in the joint space of the robot. The inverse kinematics is demonstrated in waist motion to the left and right at 0.05m