Kinematics of a New 14 DOF Humanoid Biped Robot

Lu Min Chen; Fan Wang

doi:10.4028/www.scientific.net/AMR.842.564

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HomeAdvanced Materials ResearchAdvanced Materials Research Vol. 842Kinematics of a New 14 DOF Humanoid Biped Robot

Kinematics of a New 14 DOF Humanoid Biped Robot

Abstract:

This paper proposes a novel architecture for a biped robot with six DOFs per leg and an active toe DOF (Degrees of Freedom). The arrangement of three successive DOFs paralleled to each other makes its inverse kinematics simple and decoupled by omitting one DOF which is unnecessary when walking. And this work presents close equations for the forward and inverse kinematics. The results can be used in the kinematic control study of the robot.

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Periodical:

Advanced Materials Research (Volume 842)

Pages:

564-568

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.842.564

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Online since:

November 2013

Authors:

Lu Min Chen, Fan Wang

Keywords:

14 Degree-of-Freedom, Humanoid Biped Robot, Kinematics

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