Humanoid NAO: A Kinematic Encounter

被引：5
|
作者：
Sahu, Chinmaya [1 ]
Parhi, Dayal R. [2 ]
Kumar, Priyadarshi Biplab [3 ]
Muni, Manoj Kumar [4 ]
Chhotray, Animesh [5 ]
Pandey, Krishna Kant [6 ]
机构：
[1] Vellore Inst Technol, Sch Mech Engn SMEC, Vellore 632014, Tamil Nadu, India
[2] Natl Inst Technol Rourkela, Mech Engn Dept, Robot Lab, Rourkela 769008, Odisha, India
[3] Natl Inst Technol Hamirpur, Mech Engn Dept, Hamirpur 177005, Himachal Prades, India
[4] Indira Gandhi Inst Technol Sarang, Mech Engn Dept, Dhenkanal 759146, Odisha, India
[5] Gandhi Inst Educ & Technol, Dept Mech Engn, Khordha 752060, Odisha, India
[6] GH Raisoni Inst Engn & Technol, Dept Mech Engn, Pune 412207, Maharashtra, India
来源：
ROBOTICA | 2021年 / 39卷 / 11期
关键词：
Constraint equations; DH parameters; Forward kinematics; Humanoid NAO; Multibody formulation; BIPED ROBOT; WALKING;
D O I：
10.1017/S0263574721000096
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
In the current research, kinematic analysis of a humanoid NAO is attempted. Here, both Denavit-Hartenberg (DH) parameter approach and multibody formulation approach have been analyzed. In the DH parameter approach, the NAO robot is solved by separating it into five individual kinematic chains. In the multibody formulation approach, NAO is divided into 15 segments, and each segment is analyzed. Kinematic analysis holds a significant importance; as from the data obtained in the kinematic analysis, the robots can be designed for real-time path planning and navigation. The current analysis is a novel approach to analyze the NAO based on its kinematic constraints.
引用
收藏
页码：1997 / 2007
页数：11
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