Title :
Kinematic modeling of a humanoid robot with 18 DOF in a virtual environment
Author :
Menad, Meriem ; Derouiche, Ziane ; Foitih, Zoubir Ahmed ; Nouibat, Wahid
Author_Institution :
Lab. of Power Syst., Solar Energy & Autom. USTO, Algeria
Abstract :
The work presented in this paper is the kinematic modeling of the prototype HR-ARP, after proposing a new approach to modeling of humanoid robots [1] and the direct and inverse kinematic model of the humanoid robot RH-ARP [2] This result comes to complete that study and will after to allow the practical realization of this prototype. The work presented in this paper is interested in kinematic modeling of a humanoid robot with 18 degree of freedom (DOF), three DOF in EACH arm and six DOF per foot.
Keywords :
digital simulation; humanoid robots; prototypes; robot kinematics; virtual reality; 18 DOF humanoid robot kinematic modeling; EACH arm; HR-ARP prototype; humanoid robot direct kinematic model; humanoid robot inverse kinematic model; virtual environment; Foot; Humanoid robots; Joints; Kinematics; Prototypes; Solid modeling; Humanoid Robot; Virtual Reality Modeling Language; kinematic modeling;
Conference_Titel :
Innovative Computing Technology (INTECH), 2013 Third International Conference on
Conference_Location :
London
Print_ISBN :
978-1-4799-0047-3
DOI :
10.1109/INTECH.2013.6653656
