Inverse kinematics for control of JINPOONG

JINPOONG is a platform that has been developed in order to move an uneven terrain as quadrupeds. Each leg was designed to have 4 degrees of freedom to utilize a broad workspace. A solution of inverse kinematics of this system was found out using the closed form solution, considering motion control of JINPOONG. Therefore, this paper explains the calculation method of the inverse kinematics for the motion control of JINPOONG. The performance of the calculation method was demonstrated in simulation using MATLAB.