Kinematic Analysis and Gait Planning for a DARwIn-OP Humanoid Robot

被引：0
|
作者：
Li, Xiao [1 ]
Li, Yangmin [1 ,2 ]
Cui, Xinzhe [1 ]
机构：
[1] Univ Macau, Fac Sci & Technol, Dept Electromech Engn, Av Univ E11, Taipa, Macao, Peoples R China
[2] Tianjin Univ Technol, Tianjin Key Lab Adv Mech Syst Design & Intelligen, Tianjin 300384, Peoples R China
来源：
2016 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS (ROBIO) | 2016年
基金：
中国国家自然科学基金;
关键词：
Humanoid robot; kinematics; gait planning;
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
DARwIn-OP is an anthropomorphic robot with intelligence-open platform and twenty degree of freedom(DOF), in which joints are driven by dynamixel motor MX-28T. This paper mainly investigates kinematics analysis and gait planning issues of DARwIn-OP. Denavit-Hartenberg method is applied to direct kinematics and inverse kinematics analysis. In trajectory generation, based on foothold point locations, this paper utilizes three-dimensional linear inverted pendulum model for a biped walking pattern generation to obtain center of mass(COM) trajectory and zero moment position (ZMP) trajectory. For the sake of applying the trajectory into the real modeling, we apply the 4 th spline interpolation method to obtain correct COM trajectory. At last, MATLAB simulation results are given.
引用
收藏
页码：1442 / 1447
页数：6
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