KINEMATIC-KINETIC ANALYSIS OF HUMANOID ROBOT STRAIGHT MOTION

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SADAT FOUMANI M.; KHATIBI MOHAMMAD MAHDI; MORADI MAHDI; MAHDIABADI MORTEZA

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Journal: Modeling in Engineering Year:2009 | Volume:7 | Issue:17 Page(s): 0-0

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Information Journal Paper

Title

KINEMATIC-KINETIC ANALYSIS OF HUMANOID ROBOT STRAIGHT MOTION

Author(s)

SADAT FOUMANI M. | KHATIBI MOHAMMAD MAHDI | MORADI MAHDI | MAHDIABADI MORTEZA | Issue Writer Certificate

Keywords

HUMANOID ROBOTQ4

DENAVIT-HARTENBERG METHODQ4

NEWTON-RAPHSON METHODQ4

COG STABILITY CRITERIAQ4

Abstract

Studies and researches accomplished about HUMANOID ROBOTs, to deem exact recognition of robot dynamics parameters necessary to execute a human-like motion. The high number of degree of freedom (DOF) of these robots makes achievement to this recognition more complex. In this paper the walking pattern of a 12 DOFs robot is generated using human motion model. Then relations between robot links are obtained by DENAVIT-HARTENBERG METHOD. Then necessary equations to execute the selected pattern are obtained using these relations and center of gravity (COG) Stability criteria. These equations are solved with composition of Newton-Raphson and singular value decomposition methods. The angular velocity functions of active DOFs are obtained by using linear path generation pattern with parabolic boundaries. Then the Kinematics-Kinetic parameters of robot are calculated at each step. Finally by using Simulink toolbox in Matlab software, a schematic model of robot is simulated in Visual Nastran software and the results are presented.

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APA: Copy

SADAT FOUMANI, M., KHATIBI, MOHAMMAD MAHDI, MORADI, MAHDI, & MAHDIABADI, MORTEZA. (2009). KINEMATIC-KINETIC ANALYSIS OF HUMANOID ROBOT STRAIGHT MOTION. JOURNAL OF MODELING IN ENGINEERING, 7(17), 0-0. SID. https://sid.ir/paper/359210/en

Vancouver: Copy

SADAT FOUMANI M., KHATIBI MOHAMMAD MAHDI, MORADI MAHDI, MAHDIABADI MORTEZA. KINEMATIC-KINETIC ANALYSIS OF HUMANOID ROBOT STRAIGHT MOTION. JOURNAL OF MODELING IN ENGINEERING[Internet]. 2009;7(17):0-0. Available from: https://sid.ir/paper/359210/en

IEEE: Copy

M. SADAT FOUMANI, MOHAMMAD MAHDI KHATIBI, MAHDI MORADI, and MORTEZA MAHDIABADI, “KINEMATIC-KINETIC ANALYSIS OF HUMANOID ROBOT STRAIGHT MOTION,” JOURNAL OF MODELING IN ENGINEERING, vol. 7, no. 17, pp. 0–0, 2009, [Online]. Available: https://sid.ir/paper/359210/en

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