期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2012
卷号：6
期号：4
页码：36
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：Legged machines have not been offered biologically realistic movement patterns and behaviours due to the limitations in kinematic, dynamics and control technique. When the degrees of freedom (DOF) increases, the robot becomes complex and it affects the postural stability. A loss of postural stability of biped may have potentially serious consequences and this demands thorough analy- sis for the better prediction and elimination of the possi- bility of fall. This work presents the modelling and simu- lation of twelve degrees of freedom (DOF) biped robot, walking along a pre-defined trajectory after considering the stability in sagittal and frontal planes based upon zero moment point (ZMP) criterion. Kinematic model- ling and dynamic modelling of the robot are done using Denavit-Hartenberg (DH) parameters and Newton-Eul- er algorithm respectively. This paper also proposes Lev- enberg-Marquardt method for finding inverse kinematic solutions and determines the size of the foot based on ZMP for the stable motion of biped. Biped robot loco- motion is simulated, kinematic and dynamic parameters are plotted using MATLAB. Cycloidal gait trajectory is experimentally validated for a particular step length of the biped.
关键词：Denavit-Hartenberg parameters; sagittal ; and frontal plane; zero moment point (ZMP); Levenberg- ; Marquardt algorithm; Cycloidal gait trajectory.
