<abstract xmlns="http://www.w3.org/1999/xhtml"><p>This paper focuses on the walking improvement of a biped robot. The zero-moment point (ZMP) method is used to stabilise the walking process of robot. The kinematic model of the humanoid robot is based on Denavit- Hartenberg’s (D-H) method, as presented in this paper. This work deals with the stability analysis of a two-legged robot during double and single foot walking. It seems more difficult to analyse the dynamic behaviour of a walking robot due to its mathematical complexity. In this context most humanoid robots are based on the control model. This method needs to design not only a model of the robot itself but also the surrounding environment. In this paper, a kinematic simulation of the robotic system is performed in MATLAB. Driving torque of the left and right ankle is calculated based on the trajectory of joint angle, the same as angular velocity and angular acceleration. During this process an elmo motion controller is used for all joints. The validity of the dynamic model is tested by comparing obtained results with the simulation results.</p></abstract>

This paper focuses on the walking improvement of a biped robot. The zero-moment point (ZMP) method is used to stabilise the walking process of robot. The kinematic model of the humanoid robot is based on Denavit- Hartenberg’s (D-H) method, as presented in this paper. This work deals with the stability analysis of a two-legged robot during double and single foot walking. It seems more difficult to analyse the dynamic behaviour of a walking robot due to its mathematical complexity. In this context most humanoid robots are based on the control model. This method needs to design not only a model of the robot itself but also the surrounding environment. In this paper, a kinematic simulation of the robotic system is performed in MATLAB. Driving torque of the left and right ankle is calculated based on the trajectory of joint angle, the same as angular velocity and angular acceleration. During this process an elmo motion controller is used for all joints. The validity of the dynamic model is tested by comparing obtained results with the simulation results.

Dynamic Modelling and Analyzing of a Walking of Humanoid Robot

Strojnícky časopis - Journal of Mechanical Engineering

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

{"article-title":"Dynamic Modelling and Analyzing of a Walking of Humanoid Robot"}

This paper focuses on the walking improvement of a biped robot. The zero-moment point (ZMP) method is used to stabilise the walking process of robot. The...

Dynamic Modelling and Analyzing of a Walking of Humanoid Robot

Published Online: Dec 06, 2018

Page range: 59 - 76

DOI: https://doi.org/10.2478/scjme-2018-0027

Keywords
D-H conversation, kinematics, dynamics, walking motion, humanoid robot, Simechanics

© 2018 Bajrami Xhevahir, et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Dynamic Modelling and Analyzing of a Walking of Humanoid Robot

Published Online: Dec 06, 2018

Page range: 59 - 76

DOI: https://doi.org/10.2478/scjme-2018-0027

KeywordsD-H conversation, kinematics, dynamics, walking motion, humanoid robot, Simechanics

© 2018 Bajrami Xhevahir, et al., published by Sciendo

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Keywords
D-H conversation, kinematics, dynamics, walking motion, humanoid robot, Simechanics