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Kinematic and three-dimensional dynamic modeling of a biped robot

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EHS_Journal_IMechE_BipedModeling_2016[1]-s.pdf (571.95 KB)

Date

2017-03-01

Authors

Khajepour, Amir
Hashemi, Ehsan

Journal Title

Journal ISSN

Volume Title

Publisher

Sage

Abstract

This article focuses on inverse kinematic formulation and dynamic modeling of the Nao biped robot's lower body, accompanied by verification with the joints' angles as experimental data. Dynamic modeling in two different planes is discussed and joint angles for the given positions, nominal conditions, and trajectory computations are simulated and graphically illustrated. A new approach for development of the inverse dynamics on the aforementioned robot's lower body is proposed in this paper, analytically studied, and compared with MSC Adams for two various scenarios of fixed supporting leg and ground contact implementation.

Description

To view the final version of this © SAGE publication go here: https://doi.org/10.1177/1464419316645243

Keywords

Biped robots, Inverse kinematics, Inverse dynamics, Dynamic modeling, Trajectory approximation

LC Keywords

Citation

URI

https://doi.org/10.1177/1464419316645243
 http://hdl.handle.net/10012/11616

Collections

Waterloo Research
Mechanical and Mechatronics Engineering