期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2012
卷号：9
期号：5
页码：190
DOI：10.5772/52452
语种：English
出版社：SAGE Publications
摘要：Humanoid biped robots are typically complex in design, having numerous Degrees-of-Freedom (DOF) due to the ambitious goal of mimicking the human gait. The paper proposes a new architecture for a biped robot with seven DOF per each leg and one DOF corresponding to the toe joint. Furthermore, this work presents close equations for the forward and inverse kinematics by dividing the walking gait into the Sagittal and Frontal planes. This paper explains the mathematical model of the dynamics equations for the legs into the Sagittal and Frontal planes by further applying the principle of Lagrangian dynamics. Finally, a control approach using a PD control law with gravity compensation was recurred in order to control the desired trajectories and finding the required torque by the joints. The paper contains several simulations and numerical examples to prove the analytical results, using SimMechanics of MATLAB toolbox and SolidWorks to verify the analytical results.
关键词：Humanoid Robot; Degrees-of-Freedom; Lagrangian Dynamics; Control
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