Inverse Kinematics Solution for Biped Robot

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dc.contributor.authorThavai, Rahul
dc.date.accessioned2016-08-05T17:03:43Z
dc.date.available2016-08-05T17:03:43Z
dc.date.issued2015-01
dc.descriptionKeywords: Biped, Degree of freedom, Denavit-hartenberg parameters, Inverse kinematics.en_US
dc.description.abstractA biped is a multi-jointed mechanism that performs a human's motions. It seems more difficult to analyze the behavioral character of walking robot due to the complexity of mathematical description. This paper focuses on developing a methodology for deriving an inverse kinematic joint solution of a biped robot. This work aimed to build the lower side, the locomotion part of a biped robot. It couples a design considerations and simplicity of design to provide inverse kinematics analysis of 11 degree-of-freedom (DOF) biped robot. The model used consists of 5-links which are connected through revolute joints. The identical legs have hip joint, knee joints and ankle joint. This paper addresses symbolic formulation for reducing problem in solving univariate polynomial. An effective approach is developed for the solution of inverse kinematics task in analytical form for given end-effector position. This method presents a simple and efficient procedure for finding the joint solution of bipeds.en_US
dc.identifier.issn2278-1684
dc.identifier.urihttp://www.aiktcdspace.org:8080/jspui/handle/123456789/1747
dc.language.isoen_USen_US
dc.publisherInternational Organization of Scientific Research (IOSR)en_US
dc.relation.ispartofseriesIOSR Journal of Mechanical and Civil Engineering (IOSR-JMCE);Volume 12, Issue 1
dc.subjectStaff Publication - SoETen_US
dc.subjectStaff Publication - ME
dc.titleInverse Kinematics Solution for Biped Roboten_US
dc.typeArticleen_US
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