Forward and Inverse Kinematics of a Humanoid Robot Head for Social Human Robot-Interaction

摘要

This paper presents an analysis of forward and inverse kinematics for a humanoid robotic head. The robotic head is used for the study of social human-robot interaction, such as a support tool to maintain the attention of patients with Autism Spectrum Disorder. The design of a parallel robot that emulates human head movements through a closed structure is presented. The position and orientation in this space is controlled by three servomotors. For this, the solutions made for the kinematic problem are encompassed by a geometric analysis of a mobile base. This uses a non-systematic method, called the geometric method that avoids the use of changing reference systems, and instead uses geometric relationships to directly obtain the position based on joint variables; and the other way around. Therefore, it converges in a few iterations and has a low computational cost.