Kinematic Modeling of a Humanoid Soccer-Player: Applied to BIOLOID Premium Type A Robot

Abstract

This paper presents the closed solution of the kinematic modeling of humanoid soccer-player robot: the BIOLOID Premium Type A. The kinematic modeling considers the Denavit-Hartenberg geometric parameters, the homogeneous transformation matrix to represent the position and orientation of the supporting foot and the walking foot and, the Chace methodology to obtain the inverse kinematic model of position. The Chace methodology used for the solution of the inverse kinematic model of position was developed by one of the authors. By simulation results in Matlab, it is shown that the methodology used to obtain the kinematic equations provides a reliable solution according to a desired task. So that, in a future, the authors can use these equations to get an improved performance of the gait cycle for the humanoid soccer-player. © Springer-Verlag Berlin Heidelberg 2013.