Inverse Kinematics for a 6-DOF Walking Humanoid Robot Leg

This paper describes a novel method for solving the inverse kinematics of a humanoid robot leg anthropomorphically configured with 6 degrees of freedom using conformal geometric algebra. We have used different geometric entities such as lines, planes, and spheres in order to achieve the desired position and orientation of the body and the foot, individually reconfiguring the amount of rotation for each joint. The proposed method can be used in a future work to design obstacle avoidance and self collision algorithms. The effectiveness of the proposed algorithm is proved via practical experiments. Results indicate that the proposed algorithm achieves the expected behavior.