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.

翻译：本文介绍了一种基于纯几何方法的双足行走算法及其逆运动学求解过程，旨在从基本原理出发阐释所有数学概念，以阐明该解决方案的理论依据。为此，我们简化了问题结构并进行了教学性内容编排。现有相关研究通常采用矩阵系统配合解耦或雅可比矩阵计算等复杂技术来解决正向与逆运动学问题。通过简化行走过程，本文提出仅运用几何技术即可实现运动学求解的简明方案。