Preprint
Article
Modelling of the Biped Robot with 10 DoF
This version is not peer-reviewed.
Submitted:
11 June 2017
Posted:
12 June 2017
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Abstract
First, a brief overview is provided on humanoid robots, and also models for the dynamic behavior are discussed. As base for these models these two methods Denavit-Hartenberg and Newton-Euler are used. Main aim of this work is to investigate the stability of a biped robot developed from IHRT. There is currently the low base of robot - consisting of feet, legs, hips and upper part of robots body. This structure currently has ten degrees of freedom.
Keywords:
kinematic
; dynamic
; biped
; Simulink
; Archie
Copyright: This open access article is published under a Creative Commons CC BY 4.0 license, which permit the free download, distribution, and reuse, provided that the author and preprint are cited in any reuse.
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