Preprint Article Version 1 This version is not peer-reviewed

Modelling of the Biped Robot with 10 DoF

Version 1 : Received: 11 June 2017 / Approved: 12 June 2017 / Online: 12 June 2017 (07:39:52 CEST)

How to cite: Shala, A.; Likaj, R.; Bajrami, X. Modelling of the Biped Robot with 10 DoF. Preprints 2017, 2017060054 (doi: 10.20944/preprints201706.0054.v1). Shala, A.; Likaj, R.; Bajrami, X. Modelling of the Biped Robot with 10 DoF. Preprints 2017, 2017060054 (doi: 10.20944/preprints201706.0054.v1).

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.

Subject Areas

kinematic; dynamic; biped; Simulink; Archie

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