Photo by rachitank from unsplash
This article focuses on inverse kinematic formulation and dynamic modeling of the Nao biped robot's lower body, accompanied by verification with the joints' angles as experimental data. Dynamic modeling in… Click to show full abstract
This article focuses on inverse kinematic formulation and dynamic modeling of the Nao biped robot's lower body, accompanied by verification with the joints' angles as experimental data. Dynamic modeling in two different planes is discussed and joint angles for the given positions, nominal conditions, and trajectory computations are simulated and graphically illustrated. A new approach for development of the inverse dynamics on the aforementioned robot's lower body is proposed in this paper, analytically studied, and compared with MSC Adams for two various scenarios of fixed supporting leg and ground contact implementation.
Journal Title: Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics
Year Published: 2017
Link to full text (if available)
Share on Social Media: Sign Up to like & get
recommendations!