Number：

02100010

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Name：

蔣祥第

Titles：

Associate professor

Author：

Chi-Sheng Tsai、Hsiang-Dih Chiang

Paper name：

Kinematics Analysis of a Biped Robot

Name of activity：

Proceedings of 2011 International Conference on Service and Interactive Robots

Keywords：Biped robot,robot kinematics,forward kinematics,inverse kinematics

Abstract：The purpose of this research is to investigate the kinematics behavior of a biped robot. The linkage frame system is first establlshed to construct its mechanical structure. Then, based on Denavit-Hartenberg transformation, the relationship transferred from joint rotation angels to the position and orientation of the hip joint is obtained by forward kinematics. Moreover, once the position and orientation of the hip joint in 3-dimensional space are obtained, a nonlinear algebraic approach of each joint rotation angel will be developed that the joint angles can be evaluated for the desired configuration of the biped robot and translated in terms of the motor angles to activate the robot.

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