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dc.contributor.authorKhajepour, Amir
dc.contributor.authorHashemi, Ehsan 18:53:05 (GMT) 18:53:05 (GMT)
dc.descriptionTo view the final version of this © SAGE publication go here:
dc.description.abstractThis 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.en
dc.subjectBiped robotsen
dc.subjectInverse kinematicsen
dc.subjectInverse dynamicsen
dc.subjectDynamic modelingen
dc.subjectTrajectory approximationen
dc.titleKinematic and three-dimensional dynamic modeling of a biped roboten
dcterms.bibliographicCitationHashemi, E., & Khajepour, A. (2017). Kinematic and three-dimensional dynamic modeling of a biped robot. Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-Body Dynamics, 231(1), 57–73.
uws.contributor.affiliation1Faculty of Engineeringen
uws.contributor.affiliation2Mechanical and Mechatronics Engineeringen

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