Kinematic Modeling of Biped Robot

Abstract

In the last decades we have seen a rapid growth in use of Humanoid Robotics, which leads to an autonomous research field. Humanoid robots are used in all situations of human’s everyday life, cooperating with us. They will work in services, in homes and hospitals, and they are even expected to get involved in sports. Hence, they will have to be capable of doing a diversity of tasks [1]. Another important fact about today's and especially tomorrow’s humanoid robots resembles human-like in their shape and behavior. A number of applications in diverse fields are continuously increasing: replacement of humans in hazardous works such as rescue operations, military operations, disaster scenarios, or restoration movement in people with disabilities. By taking advantages of the strategic footholds in the terrain, legs increase traction and decrease energy consumption.