Kinematic analysis and gait planning for a DARwIn-OP Humanoid Robot

Xiao Li, Yangmin Li, Xinzhe Cui

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

4 Citations (Scopus)

Abstract

DARwIn-OP is an anthropomorphic robot with intelligence-open platform and twenty degree of freedom(DOF), in which joints are driven by dynamixel motor MX-28T. This paper mainly investigates kinematics analysis and gait planning issues of DARwIn-OP. Denavit-Hartenberg method is applied to direct kinematics and inverse kinematics analysis. In trajectory generation, based on foothold point locations, this paper utilizes three-dimensional linear inverted pendulum model for a biped walking pattern generation to obtain center of mass(COM) trajectory and zero moment position (ZMP) trajectory. For the sake of applying the trajectory into the real modeling, we apply the 4thspline interpolation method to obtain correct COM trajectory. At last, MATLAB simulation results are given.
Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
PublisherIEEE
Pages1442-1447
Number of pages6
ISBN (Electronic)9781509043644
DOIs
Publication statusPublished - 1 Jan 2016
Externally publishedYes
Event2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China
Duration: 3 Dec 20167 Dec 2016

Conference

Conference2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Country/TerritoryChina
CityQingdao
Period3/12/167/12/16

Keywords

  • gait planning
  • Humanoid robot
  • kinematics

ASJC Scopus subject areas

  • Hardware and Architecture
  • Artificial Intelligence
  • Control and Systems Engineering

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