Kinematics and Dynamics of Lower Body of Autonomous Humanoid Biped Robot
Deepak Bharadwaj1, Manish Prateek2
1Deepak Bharadwaj, Department of Mechanical Engineering, University of Petroleum & Energy Studies, Dehradun (Uttarakhand), India.
2Manish Prateek, Department of Computer Science Engineering, University of Petroleum & Energy Studies, Dehradun (Uttarakhand), India.
Manuscript received on 05 February 2019 | Revised Manuscript received on 13 February 2019 | Manuscript published on 28 February 2019 | PP: 141-146 | Volume-8 Issue-4, February 2019 | Retrieval Number: D2666028419/19©BEIESP
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC-BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: This paper presents the mathematical modeling of ten degree of freedom of manipulator. Workspace of each leg calculated by applying the method of Denavit_Hatretnberg notation scheme. Forward and inverse kinematics obtained for the manipulator of lower body of humanoid robot. Static forces on the joint calculated for the joint to hold the particular position of the lower body. Dynamics torque obtained by applying the principles of Lagrangian dynamics. A nonlinear feedback measured from the output end to control the movement of leg. A computed control torque approach has been used to avoid the oscillation of the system. Several experiment done of the mat lab to verify the analytical and simulation result.
Keyword: Humanoid Robot, Transform Approach, Partitioned-Proportional Derivative.
Scope of the Article: Robotics Engineering