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Papers by Muhammad Rameez
Modeling and Kinematics Analysis of the Biped Robot, 2015
Biped robots are intricate in design, with more degrees of freedom (DOF) because of the challengi... more Biped robots are intricate in design, with more degrees of freedom (DOF) because of the challenging goal of imitating humanoid gait. This paper gives a very simple architecture of the biped robot have three degrees of freedom (DOF)in each leg, one DOF for hip joint and one corresponding to the knee and ankle joint respectively. Denavit-Hartenberg parameter is being used to obtain the solution for forward kinematics (FK). Furthermore the forward kinematics is also confirmed using Peter-Corke toolbox in this work. This gives the desired results of the different orientation. The CAD model is also made to give a better visual model of the biped robot. Keywords—Biped robot, Design, Denavit-Hartenberg parameters, Forward kinematics
2015 15th International Conference on Control, Automation and Systems (ICCAS), 2015
Abstract: Biped robots have several degrees of freedom (DOF) composed of many articulated links c... more Abstract: Biped robots have several degrees of freedom (DOF) composed of many articulated links connected together
by joint which ends up in a complex structure and difficult to make it mimic human like locomotion gait which is
dynamic in nature and at the same time stable in the sense of not falling by. This paper presents dynamic equations of
motion and its Matlab simulation of joints position. These dynamic equations are derived by starting with the
kinematics which includes forward kinematics (FK) derived by using the Denavit-Hartenberg notation and inverse
kinematics (IK) and then solving the dynamics of the biped robot. Two well-known methods for solving the dynamic of
the robot are Newton-Euler formulation and Euler-Lagrangian formulation. This work uses the Euler-Lagrange
formulation as it is a fancy formulation technique for solving dynamics instead of finding all the forces, velocities using
Newton-Euler formulation.
Modeling and Kinematics Analysis of the Biped Robot, 2015
Biped robots are intricate in design, with more degrees of freedom (DOF) because of the challengi... more Biped robots are intricate in design, with more degrees of freedom (DOF) because of the challenging goal of imitating humanoid gait. This paper gives a very simple architecture of the biped robot have three degrees of freedom (DOF)in each leg, one DOF for hip joint and one corresponding to the knee and ankle joint respectively. Denavit-Hartenberg parameter is being used to obtain the solution for forward kinematics (FK). Furthermore the forward kinematics is also confirmed using Peter-Corke toolbox in this work. This gives the desired results of the different orientation. The CAD model is also made to give a better visual model of the biped robot. Keywords—Biped robot, Design, Denavit-Hartenberg parameters, Forward kinematics
2015 15th International Conference on Control, Automation and Systems (ICCAS), 2015
Abstract: Biped robots have several degrees of freedom (DOF) composed of many articulated links c... more Abstract: Biped robots have several degrees of freedom (DOF) composed of many articulated links connected together
by joint which ends up in a complex structure and difficult to make it mimic human like locomotion gait which is
dynamic in nature and at the same time stable in the sense of not falling by. This paper presents dynamic equations of
motion and its Matlab simulation of joints position. These dynamic equations are derived by starting with the
kinematics which includes forward kinematics (FK) derived by using the Denavit-Hartenberg notation and inverse
kinematics (IK) and then solving the dynamics of the biped robot. Two well-known methods for solving the dynamic of
the robot are Newton-Euler formulation and Euler-Lagrangian formulation. This work uses the Euler-Lagrange
formulation as it is a fancy formulation technique for solving dynamics instead of finding all the forces, velocities using
Newton-Euler formulation.