Dynamic Modelling of Biped Robot

Abstract

Goal of dynamics is to obtain equations of motion of biped. Dynamic model of 11 Degree of freedom biped is formulated. Euler - Lagrange formulation combined with homogeneous transformation matrices are used to derive Equations of motion. Jacobian matrixes are the basic elements in building dynamic model. Jacobian matrixes and Euler- Lagrange equations used to determines its dynamic characteristics such as velocity, acceleration and torque. This is necessary for design as well as for estimation of energy consumption of biped. This paper illustrates the mathematical model of the dynamics equations for the legs into the Sagittal and Frontal planes by applying the principle of Lagrangian dynamics.