Whole-Body Kinematics Modeling in presence of Closed-Linkages: application to the Kangaroo Biped Robot
Résumé
This short paper presents preliminary studies and results on the kinematic modeling and control of a novel bipedal platform designed and built by PAL Robotics, named Kangaroo, characterized by the presence of multiple closed and parallel linkages. These kinematic structures are known to have superior mechanical performance at the cost of increased modeling and control complexity. We introduce the methodology to handle such complexity applied to the lower body of the Kangaroo robot, in particular considering whole-body formulation based on quadratic programming optimization. The presented approach is finally validated both in simulation and with experiments performed on the real platform.
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