شماره ركورد كنفرانس :
3208
عنوان مقاله :
Kinematic Analysis of Darwin’s Humanoid Robot
پديدآورندگان :
Hasanpour, Arman Mechatronics Research Laboratories-Humanoid Soccer League (MRL-HSL) - Islamic Azad Univ , Daemy, Parisa Mechatronics Research Laboratories-Humanoid Soccer League (MRL-HSL) - Islamic Azad Univ , Aghazamani, Morteza Mechatronics Research Laboratories-Humanoid Soccer League (MRL-HSL) - Islamic Azad Univ , Alipour, Khalil Department of Mechatronics Eng. - Faculty of New Sciences and Technologies - University of Tehran , Jafari, Mohammad Department of Computer Science and Engineering - University of Nevada
كليدواژه :
humanoid robot , direct and inverse kinematics , MATLAB , Webots
عنوان كنفرانس :
چهارمين كنفرانس بين المللي كنترل، ابزار دقيق و اتوماسيون
چكيده لاتين :
The main objective of this paper is determining
Darwin's humanoid robot direct and inverse kinematics. The
kinematic and dynamic studies of the robotic systems are the
principles and key issues in path control, motion planning,
stability and motion modeling. In order to achieve stable and
reliable movement in a variety of environmental conditions, it is
necessary to take a comprehensive analysis of mobile robot
kinematics and dynamics. On the other hand, the higher number
of degrees of freedom (DOF) of this type of robots, make the
kinematic and dynamic analysis of their movements far more
complicated. In this study, direct and inverse kinematics of
Darwin’s humanoid robot is fully calculated. The derived
equations are verified using MATLAB and Webots in which
Darwin’s model is available. Results show the accuracy of
calculated equations.
