Inverse Kinematics Locomotion Control for a Legged Robot
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.