Kinematic Modelling of Humanoid Robot Based on Vectorial Approach

Authors

  • nacer HADIDI Ecole Nationale Polytechnique, Mechanical Engineering
  • Chawki Mahfoudi Univ. of Larbi Ben M'hidi, Oum El Bouaghi, ALGERIA.
  • Mohamed Bouaziz Ecole National Polytechnique, Algiers, ALGERIA
  • Zaharuddin Mohamed Universiti Teknologi Malaysia, Johor Bahru, MALAYSIA.
  • Ahcene Bouzida Univ. Akli Mohand Oulhadj, Bouira, ALGERIA.

DOI:

https://doi.org/10.53907/enpesj.v4i1.271

Keywords:

biped robot, Humanoid robot, Inverse kinematic, Robotics, vectors calculus

Abstract

The present work is dedicated to the study of the inverse kinematics solution of a humanoid bipedal robot with 30 degrees of freedom using a newly approach based on vectors that generated from the geometric space of the robot. The solutions of the inverse kinematics problem for all joints articulations are carried out through a simple and linear equations. Finally, simulations of results are performed through harmonization of trajectories of end effectors of the robot's members.

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Published

2024-07-13

Issue

Vol. 4 No. 1 (2024): ENP Engineering Science Journal

Section

Article

License

Copyright (c) 2024 ENP Engineering Science Journal

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