Mathematical simulation of a seven link biped robot on various surfaces and ZMP considerations |
| |
Authors: | Peiman Naseradin Mousavi Ahmad Bagheri |
| |
Affiliation: | Department of Mechanical Engineering, Guilan University, Rasht, Iran |
| |
Abstract: | In recent years, numerous researches have been done based on simulation of legged mechanism, especially on biped robots simulation and control. The following article focuses on the biped robot simulation and control over various manners such as horizontal, ascending and descending surfaces with the aid of mathematical modeling methods (in MATLAB/SIMULINK environment). Similar parameters to human walking process will be obtained such as ZMP and joint’s actuator torques. The mathematical simulation has been used to interpolate trajectory of the robot path with the given break points. Of course, after the robot’s path determination, third-order spline method will be used because of the very high precision and ability to calculate the kinematic and dynamic parameters. With the aid of this program, common parameters such as linear and angular velocity and acceleration, joint’s angles and inertial forces for the given specifications and conditions (Nominal, no disturbances) will be calculated and simulated. Also, the two types of ZMP (Fixed and moving) have been considered and calculated with the aid of the software. |
| |
Keywords: | Seven link biped robot ZMP Vandermonde matrix Third-order spline Trajectory interpolation Simulation Fixed and moving ZMP Torso modified motion |
本文献已被 ScienceDirect 等数据库收录! |
|