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What is Neural Inverse Kinematics for Humanoids about?
This document presents a method for solving the inverse kinematics of a humanoid robot using an artificial neural network. The input to the network is the desired positions and orientations of one foot relative to the other. The output is the joint coordinates that achieve this goal configuration. To train the network, the direct kinematics are used to relate joint variables to foot position/orientation. Training data is filtered to select stable robot configurations based on criteria like maintaining the c
- Author
- Praditya Handi
- Language
- EN