Original Research Paper

Intelligent Service Robotics

, Volume 6, Issue 2, pp 101-108

First online:

Open Access This content is freely available online to anyone, anywhere at any time.

Integer inverse kinematics method using Fuzzy logic

  • Takeshi MorishitaAffiliated withDepartment of Robotics, Toin University of Yokohama Email author 
  • , Osamu TojoAffiliated withDepartment of Robotics, Toin University of Yokohama


In this paper, we propose an integer inverse kinematics method for multijoint robot control. The method reduces computational overheads and leads to the development of a simple control system as the use of fuzzy logic enables linguistic modeling of the joint angle. A small humanoid robot is used to confirm via experiment that the method produces the same cycling movements in the robot as those in a human. In addition, we achieve fast information sharing by implementing the all-integer control algorithm in a low-cost, low-power microprocessor. Moreover, we evaluate the ability of this method for trajectory generation and confirm that target trajectories are reproduced well. The computational results of the general inverse kinematics model are compared to those of the integer inverse kinematics model and similar outputs are demonstrated. We show that the integer inverse kinematics model simplifies the control process.


Inverse kinematics Integer algorithm Reduction control Fuzzy model Multijoint control model