Dynamic Modelling and Analyzing of a Walking of Humanoid Robot
Journal Title: Strojnicky casopis - Journal of Mechanical Engineering - Year 2018, Vol 68, Issue 3
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 DenavitHartenberg’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.
Authors and Affiliations
Bajrami Xhevahir, Shala Ahmet, Hoxha Gezim and Likaj Rame
Keywords
Related Articles
- EP ID EP43949
- DOI https://doi.org/10.2478/scjme-2018-0027
- Views 220
- Downloads 0
FSW Numerical Simulation of Aluminium Plates by Sysweld - Part I
Friction Stir Welding (FSW) is one of the most effective solid state joining processes and it has numerous potential applications in many industries. The simulation process can provide the evolution of physical quantit...
ELASTOSTATIC ANALYSIS OF THE SPATIAL FGM STRUCTURES
In this contribution, results of elastostatic analysis of spatial composite beam structmes are presented using ow- new beam finite element of double symmetric cross-section made of a Ftmctionally Graded Material (FGM)....
Mathematical Model for Velocity Calculation of Three Types of Vehicles in the Case of Pedestrian Crash
This paper treats influencing factors in the determination of vehicles speed on the pedestrian crash moment according to pedestrian throw distance and formulates a mathematical model for vehicle speed determination. Ve...
Full Field Evaluation of the Stress Tensor Components in 2D Photoelasticity Via Computer Software
The aim of this work is to find out the components of stress tensor in plane specimens. For this purpose the photoelasticity methodology is used. In order to make this technique more comfortable for use, there was deve...
Mechanical Characteristics and Wear Resistance of the Cladding Layers Obtained by Melting of Cored Wires with Simultaneous Vibration of Substrate
A wear proof layer was obtained by applying vibration with a frequency of 100 Hz and amplitude of 0; 70; 300 µm to the cored wire of Fe-Cr-B-C doping system during welding. It was shown that horizontal vibration affect...