Kinematic Analysis of Darwin's Humanoid Robot

被引：0

作者：

Hasanpour, Arman ^{[1
]}

Daemy, Parisa ^{[1
]}

Aghazamani, Morteza ^{[1
]}

Alipour, Khalil ^{[2
]}

Jafari, Mohammad ^{[3
]}

机构：

[1] Islamic Azad Univ, MRL HSL, Qazvin Branch, Qazvin, Iran

[2] Univ Tehran, Fac New Sci & Technol, Dept Mechatron Engn, Tehran, Iran

[3] Univ Nevada, Dept Comp Sci & Engn, Reno, NV 89557 USA

来源：

2016 4TH INTERNATIONAL CONFERENCE ON CONTROL, INSTRUMENTATION, AND AUTOMATION (ICCIA) | 2016年

关键词：

humanoid robot; direct and inverse kinematics; MATLAB; Webots; INVERSE KINEMATICS;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The main objective of this paper is determining Darwin's humanoid robot direct and inverse kinematics. The kinematic and dynamic studies of the robotic systems are the principles and key issues in path control, motion planning, stability and motion modeling. In order to achieve stable and reliable movement in a variety of environmental conditions, it is necessary to take a comprehensive analysis of mobile robot kinematics and dynamics. On the other hand, the higher number of degrees of freedom (DOF) of this type of robots, make the kinematic and dynamic analysis of their movements far more complicated. In this study, direct and inverse kinematics of Darwin's humanoid robot is fully calculated. The derived equations are verified using MATLAB and Webots in which Darwin's model is available. Results show the accuracy of calculated equations.

引用

页码：356 / 361

页数：6

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