Kinematic and three-dimensional dynamic modeling of a biped robot
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Date
2017-03-01
Authors
Khajepour, Amir
Hashemi, Ehsan
Advisor
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