Mathematical simulation of combined trajectory paths of a seven link biped robot |
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| Authors: | Peiman Naseradin Mousavi C Nataraj Ahmad Bagheri Mahdi Alizadeh Entezari |
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| Institution: | 1. Department of Mechanical Engineering, Guilan University, Rasht, Iran;2. Department of Mechanical Engineering, Villanova University, Villanova, USA;3. Department of Mechanical Engineering, Amir Kabir University, Tehran, Iran |
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| Abstract: | The following article focuses on biped robot simulation and control over combined trajectory paths with the aid of mathematical modeling methods focusing on the effects of hip height over torso’s modified motion. The mathematical simulation has been exploited to interpolate the combined trajectory of the robot path with the given breakpoints using inverse kinematic and dynamic methods to determine ZMP and stability treatments. After the robot’s combined path determination, a third-order spline is utilized because of its high precision and ability to calculate the kinematic, dynamic and control parameters. With the aid of this software, common parameters such as joint angles and inertial forces for the given specifications and nominal conditions are calculated and simulated. |
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| Keywords: | Seven link biped robot Combined trajectory planning Simulation Third-order spline Moving and fixed ZMP |
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