Kinematic and three-dimensional dynamic modeling of a biped robot
نویسندگان
چکیده
منابع مشابه
Modeling and Kinematic Analysis of the Biped Robot
Biped robots are intricate in design, with more degrees of freedom (DOF) because of the challenging goal of imitating humanoid gait. This paper gives a very simple architecture of the biped robot have three degrees of freedom (DOF)in each leg, one DOF for hip joint and one corresponding to the knee and ankle joint respectively. Denavit-Hartenberg parameter is being used to obtain the solution f...
متن کاملKinematic and Dynamic Modeling of a Six Legged Robot
Legged vehicles can walk on rough and irregular surfaces with a high degree of softness . This is one of the main reasons why legged machines have received increasing attention by the scienti c community. This article presents a simulator for a six leg machine. Both kinematic and dynamic models are developed. Kinematic equations are derived with Denavit-Hartenberg method. The Free Body Diagram ...
متن کاملDynamic Control Algorithm for a Biped Robot
A not trivial problem in bipedal robot walking is the instability produced by violent transitions between the different walk phases. In this work a dynamic algorithm to control a biped robot is proposed. The algorithm is based on cubic polynomial interpolation of the initial conditions for the robot’s position, velocity and acceleration. This guarantee a constant velocity an a smooth transition...
متن کاملModeling and Analysis of Walking Pattern for a Biped Robot
This paper addresses the design and development of an autonomous biped robot using master and worker combination of controllers. In addition, the bot is wirelessly controllable. The work presented here explains the walking pattern, system control and actuator control techniques for 10 Degree of Freedom (DOF) biped humanoid. Bi-pedal robots have better mobility than conventional wheeled robots, ...
متن کاملDesign, Modeling and Control of a Biped Line-Walking Robot
39 ISSN 1729‐8806, pp. 41‐50 Design, Modeling and Control of a Biped Line-Walking Robot Ludan Wang1, Fei Liu1, Shaoqiang Xu1, Zhen Wang1, Sheng Cheng1 and Jianwei Zhang1,2 1Laboratory of Intelligent Robot Engineering, Kunshan Institute of Industry Research, Kunshan, China 2TAMS, Department of Informatics, University of Hamburg, Hamburg, Germany [email protected] Abstract: The subject of t...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics
سال: 2016
ISSN: 1464-4193,2041-3068
DOI: 10.1177/1464419316645243