Number：

01100002

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Name：

蔣祥第

Titles：

講師

Author：

CHI-SHENG TSAI、HSIANG-DIH CHIANG

Paper name：

Kinematics Modeling and Analysis of a Biped Robot

Name of activity：

ICIC Express Letters - An International Journal of Research and Surveys

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 established to construct its mechanical structure. Then, based on Denavit-Hartenberg transformation, the relationship transferrd from joint rotation angles 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 angle will be developed by inverse kinematics. A computational algorithm is 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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