Title :
FLoW bipedal robot: Hula hoop motion
Author :
Robyarta Haruli Ruci;Bayu Arengga Putra;Dadet Pramadihanto;Eko Henfri Binugroho;Raden Sanggar Dewanto
Author_Institution :
Departement of Information and Computer Engineering, Electronic Engineering Polytechnic Institute of Surabaya, Indonesia
Abstract :
In this paper, we described a model and a simulation of forward and inverse kinematics of a parallel link leg performing a predefined hula-hoop motion of FLoW, a bipedal humanoid robot. This lower body leg having 12 DOF links and joins configuration were described using D-H parameters. It was assumed that the motion is slow enough. Thus, by keeping the centre of mass projection to the floor to be always inside the support polygon of the robot the system can be regarded as stable.
Keywords :
"Kinematics","Legged locomotion","Foot","Mathematical model","Couplings","Actuators"
Conference_Titel :
Control, Electronics, Renewable Energy and Communications (ICCEREC), 2015 International Conference on
DOI :
10.1109/ICCEREC.2015.7337032
