Spatial Analysis of Humanoid Robot's Gait Using Dual-Quaternions

The most common approach used in modeling humanoid robots applies trigonometric expressions and Euler-angles for its description. Some problems of trajectory interpolation and singularity of motion representation are discussed and the dual quaternion representation is used as an alternative to avoid these problems and to obtain the models ensuring a general spatial analysis of the motion trajectory. The aim of this work is to present a different method to model kinematics of humanoid robots. Simulations are performed to evaluate the model numerically evaluating the humanoid robot dynamic equilibrium during the gait and the trajectory interpolation.     «

The most common approach used in modeling humanoid robots applies trigonometric expressions and Euler-angles for its description. Some problems of trajectory interpolation and singularity of motion representation are discussed and the dual quaternion representation is used as an alternative to avoid these problems and to obtain the models ensuring a general spatial analysis of the motion trajectory. The aim of this work is to present a different method to model kinematics of humanoid robo...     »