Modeling and dynamic analysis of the biped robot

摘要

Biped robots have several degrees of freedom (DOF) composed of many articulated links connected together by joint which ends up in a complex structure and difficult to make it mimic human like locomotion gait which is dynamic in nature and at the same time stable in the sense of not falling by. This paper presents dynamic equations of motion and its Matlab simulation of joints position. These dynamic equations are derived by starting with the kinematics which includes forward kinematics (FK) derived by using the Denavit-Hartenberg notation and inverse kinematics (IK) and then solving the dynamics of the biped robot. Two well-known methods for solving the dynamic of the robot are Newton-Euler formulation and Euler-Lagrangian formulation. This work uses the Euler-Lagrange formulation as it is a fancy formulation technique for solving dynamics instead of finding all the forces, velocities using Newton-Euler formulation.