Inverse Kinematics Locomotion Control for a Legged Robot

Inverse Kinematic Control in Base Trajectory Tracking


An inverse kinematics problem of legged systems is described as determining the generalized coordinate vector given the desired end effector target position. An inverse kinematics problem can be formulated as an optimization problem. In this project, the gradient-descent method, Newton’s method, and the Gauss-Newton method are used to solve the optimization problem, with a derivation of the Jacobian matrix of the feet point dynamics. A trajectory planning method is implemented to track a target base trajectory on both flat and bumpy terrain.

Chenhao Li
Chenhao Li
Reinforcement Learning for Robotics

My research interests focus on the general field of robot learning, including reinforcement learning, developmental robotics and legged intelligence.