使用几何技术的双足运动
Bipedal locomotion using geometric techniques
AI总结：
本文提出一种完全基于几何方法求解逆运动学的双足行走算法，通过简化问题并从基础解释数学概念，避免使用矩阵系统和复杂技术，以简单直观的方式实现行走过程求解。
摘要：
本文描述了一种双足行走算法，其逆运动学求解完全基于几何方法。所有数学概念均从基础进行解释，以阐明采用该方案的理由。为此，有必要对问题进行简化，并开展教学性工作以分配内容。通常，与该主题相关的文章使用矩阵系统来求解正向和逆运动学，运用解耦或 Jacobian 计算等复杂技术。通过简化行走过程，本文仅使用几何技术以简单方式提出了其求解方案。
英文摘要：
This article describes a bipedal walking algorithm with inverse kinematics resolution based solely on geometric methods, so that all mathematical concepts are explained from the base, in order to clarify the reason for this solution. To do so, it has been necessary to simplify the problem and carry out didactic work to distribute content. In general, the articles related to this topic use matrix systems to solve both direct and inverse kinematics, using complex techniques such as decoupling or the Jacobian calculation. By simplifying the walking process, its resolution has been proposed in a simple way using only geometric techniques.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
