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

Xiao Li; Yangmin Li; Xinzhe Cui

doi:10.1109/ROBIO.2016.7866530

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

Xiao Li, Yangmin Li, Xinzhe Cui

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

6 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 language	English
Title of host publication	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Publisher	IEEE
Pages	1442-1447
Number of pages	6
ISBN (Electronic)	9781509043644
DOIs	https://doi.org/10.1109/ROBIO.2016.7866530
Publication status	Published - 1 Jan 2016
Externally published	Yes
Event	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016 - Qingdao, China Duration: 3 Dec 2016 → 7 Dec 2016

Conference

Conference	2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016
Country/Territory	China
City	Qingdao
Period	3/12/16 → 7/12/16

Keywords

gait planning
Humanoid robot
kinematics

ASJC Scopus subject areas

Hardware and Architecture
Artificial Intelligence
Control and Systems Engineering

More information

10.1109/ROBIO.2016.7866530

Cite this

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title = "Kinematic analysis and gait planning for a DARwIn-OP Humanoid Robot",

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.",

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AU - Li, Yangmin

AU - Cui, Xinzhe

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AB - 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.

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BT - 2016 IEEE International Conference on Robotics and Biomimetics, ROBIO 2016

PB - IEEE

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

Abstract

Conference

Keywords

ASJC Scopus subject areas

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