Application of real-time analytic method in inverse kinematics of NAO model
WANG Fan1,2, LI Long-shu1
1.Key Laboratory of Intelligent Computing and Signal Processing, Ministry of Education, Anhui University, Hefei Anhui 230039, China
2.Department of Computer Science and Technology, Hefei Normal University, Hefei Anhui 230601,China
Abstract��In order to improve the accuracy and stability of the players in the movement of RoboCup3D simulation platform, a kind of real-time resolution of inverse kinematics for humanoid NAO model was proposed. Firstly, the lower limb topology of NAO model was analyzed, and its forward kinematics model was established. Secondly, the equations of every joint angle in all lower limbs were derived by real-time inverse kinematics analytic method. Finally, the algorithm was realized by coding. The experimental results validate the numerical stability and feasibility of online execution of the method, and the overall competitive level of the RoboCup3D simulation soccer team has been enhanced.
���� ������. ʵʱ��������NAOģ���˶�ѧ������е�Ӧ��[J]. �����Ӧ��, 2011, 31(10): 2825-2827.
WANG Fan LI Long-shu. Application of real-time analytic method in inverse kinematics of NAO model. Journal of Computer Applications, 2011, 31(10): 2825-2827.
2011, Vol. 31 
