Abstract:
The idea of having a biped robot walking like a human is found to interesting in many aspects. Biped is a multi-jointed mechanism that performs a human’s motions. It seems more difficult to analyze the behavioral character of walking robot due to the complexity of mathematical description involved. This work is focused on developing a methodology for deriving mathematical modeling of a biped robot. The work is aimed to build the lower side, the locomotion part of a biped robot. The model used consists of 5-links which are connected through revolute joints. The identical legs have hip joint, knee joints and ankle joint. The Kinematical model is obtained using D - H Technique. It couples a design considerations and simplicity of design to provide inverse kinematics analysis of 11 degree-of-freedom (DOF) biped robot. Lagrangian formulation is applied to obtain dynamic model of robot. MAPLE software is used for mathematical modeling. The trajectory planning is done in Matlab for kinematic analysis and robot’s motions. By applying it, the user specific walking parameters, joint trajectories of the robot are computed. The parameters for these motions are found in simulation, under a criterion of stability of walking. Simulations are done in Matlab software to test the behavior of the humanoid. The results show that the proposed motions give an efficient and stable walking of the robot. This method presents a simple and efficient procedure for finding the joint solution of bipeds.
Description:
Index Terms—Degree of freedom (DOF),Denavit–Hartenberg(D-H)parameters, Jacobian, Lagrangian
