Modeling and dynamic analysis of the biped robot (original) (raw)

Kinematics and dynamics modelling of the biped robot

IFAC Proceedings Volumes, 2013

Analytical techniques are presented for the motion planning and control of a 10 degree-of-freedom biped walking robot. From the Denavit-Hartenberg method and Newton-Euler equations, joint torques are obtained in terms of joint trajectories and the inverse dynamics are developed for both the single-support and double-support cases. Physical admissibility of the biped trajectory is characterized in terms of the equivalent force-moment and zero-moment point. This methodology has been used to obtain stability of walking biped robot Archie developed in IHRT. A simulation example illustrates the application of the techniques to plan the forward-walking trajectory of the biped robot.

Dynamic Modeling of Biped Robot using Lagrangian and Recursive Newton-Euler Formulations

International Journal of Computer Applications, 2014

The aim of this paper is to derive the equations of motion for biped robot during different walking phases using two wellknown formulations: Euler-Lagrange (E-L) and Newton-Euler (N-E) equations. The modeling problems of biped robots lie in their varying configurations during locomotion; they could be fully actuated during the single support phase (SSP) and overactuated during the double support phase (DSP). Therefore, first, the E-L equations of 6-link biped robot are described in some details for dynamic modeling during different walking phases with concentration on the DSP. Second, the detailed description of modified recursive Newton-Euler (N-E) formulation (which is very useful for modeling complex robotic system) is illustrated with a novel strategy for solution of the over-actuation/discontinuity problem. The derived equations of motion of the target biped for both formulations are suitable for control laws if the analyzer needs to deal with control problems. As expected, the N-E formulation is superior to the E-L concerning dealing with high degrees-offreedom (DoFs) robotic systems (larger than 6 DoFs).

Modeling and Kinematic Analysis of the Biped Robot

Modeling and Kinematics Analysis of the Biped Robot, 2015

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

Modeling and control of biped robot dynamics

Robotica, 1999

This paper addresses the problem of modeling biped dynamics and the use of such models for the control of walking, running and jumping robots. We describe two approaches to dynamic modeling: the basic Lagrange approach and the non-regular dynamic approach. The new non-regular dynamic approach takes into account discontinuities due to rigid contact between punctual feet and the ground without computing the exact impact time. The contact is close to the physical situation given by non-linear laws (impenetrability, non-smooth contact and real friction cone). Contact dynamics can be well managed with an accurate dynamic model that respects energy consistency during all the phases encountered during a step (0, 1 or 2 contacts). With this model, we can first study the equilibrum of a biped standing on one foot by a linearisation method. In the second stage, the unified modelized equation is used to establish a general control frame based on non-regular dynamical decoupling. A comparison i...

Various Approaches of Dynamic Modelling of Biped Robotic System-A Review

International Journal of Image Processing and Vision Science, 2013

Humans are the most advanced creatures of the nature. Accordingly it can be stated that humanoid robots are the most advanced creatures of human beings. Among the man-made systems such as automobile, hand-phones and multimedia devices, robots of future will hopefully be the most ideal assistants to human beings. During several decades of research, development projects aimed at building bipedal and humanoid robots has been increasing at a rapid rate. A brief review of current activities in the development of bipedal humanoid robotics is provided in this paper. The dynamic modelling of biped robotic system in the current trend is also described. The main objectives for using bipedal robots are introduced and bipedal locomotion as well as its dynamic behaviors in different fields are also considered. The use of dynamics of different kinds of mechanical systems in the field of humanoid robotics is also emphasized. Finally, a list of few projects in this field is provided.

Design and kinematic analysis of biped robot

2010

Most movement tasks are defined in coordinate systems that are different from the actuator space in which motor commands must be issued. Hence, movement planning and learning in task space require appropriate coordinate transformations from task to actuator space before motor commands can be computed. Therefore to move the biped robot to the desired point, the Denavit-Hartenburg (DH) algorithm is being used to provide a matrix method to derive the forward kinematic solution. The forward kinematic analysis is described in this paper.

Modelling of the Biped Robot with 10 DoF

2017

First, a brief overview is provided on humanoid robots, and also models for the dynamic behavior are discussed. As base for these models these two methods Denavit-Hartenberg and Newton-Euler are used. Main aim of this work is to investigate the stability of a biped robot developed from IHRT. There is currently the low base of robot - consisting of feet, legs, hips and upper part of robots body. This structure currently has ten degrees of freedom.

Modeling a biped robot on Matlab/SimMechanics

CONIELECOMP 2013, 23rd International Conference on Electronics, Communications and Computing, 2013

This paper presents a methodology for modeling a biped robot on Matlab/SimMechanics, which supports mathematical model development with time and effort savings. The model used for the biped robot simulation consists of 5-links which are connected through revolute joins. The identical legs have knee joints between the shank and thigh parts, and a rigid body forms the torso. Furthermore, modeling of ground contact forces is described. A PD controller is used on a linear model in state variable form in order to simulate the dynamic of the system. Results obtained from the dynamic simulation are presented.

SIMULATION and CONTROL of a BIPED WALKING ROBOT using KINEMATIC and DYNAMIC MODELLING

In this article, we intend to consider the behavior and control of a biped walking robot using kinematic and dynamic relations. At first, by using simple model of humanoid robot and essentional equations the angles, angular velocities, accelerations of motors and required torques for moving on a straight line are find out. In the second step considering numerical values of the robot parameters and constructing the dynamic model the abilities of robot are examined and simulated.