Implementation of Inverse Kinematics to Perform Walking Movements on Raspiberry-Pi Humanoid Robot

Humanoid robots are robots with human-like physiology and behavior. Humanoid robots, like sentient humans, have servos that control the orientation of their limbs. For humanoid robots, inverse kinematics optimization is required to compute the angular mass of the robot legs in their implementation. Angular mass is found based on the desired position of the robot. Optimization is a calculation that finds the closest numerical approximation to the servos to ensure that the robot's leg movements are error-free. The reason is that the leg movements of humanoid robots are not efficient without the use of inverse kinematics. Ultimately, the servo torque in the robot's legs will be excessive and the servos will overheat, potentially fatal to the robot. Using the inverse kinematics formula, the authors optimize the leg angle in degrees based on the desired limb position. A Raspberry Pi is used to support the more complex robot microcontrollers, which can easily move their legs in any direction.