Modeling and Kinematic Analysis of the Biped Robot
نویسندگان
چکیده
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
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