Applied Technologies and Innovations

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Volume 13
Issue 1
Title Modelling of the biped robot using Maple software
Author Ahmet Shala, Mirlind Bruqi, Xhevahir Bajrami
Abstract
First, a brief overview is provided on humanoid robots, and also models for the dynamic behavior are discussed. Two methods, Denavit-Hartenberg and Newton-Euler, are used as the base for these models. Main task of this work is to investigate the stability of the proposed biped robot. 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.
Citation
References
Bajrami, Xh. (2013). Dynamic modeling and simulation of a biped robot (PhD dissertation). Retrieved from The Vienna University of Technology, Austria.
 
Bajrami, Xh., Kopacek, P., Shala. A., Likaj. R. (2013). Modeling and control of a humanoid robot. e & i Elektrotechnik und Informationstechnik, 130(2), 61-66. https://doi.org/10.1007/s00502-013-0133-5
 
Guzmán, V., Blanco, O. A., Quintero, M. E., & Oliver, S. A. (2012). Development of a biped robot based on dynamic walking. Eighth International Conference on Intelligent Environments. (pp.978-1000). Morelos, México.
 
Kopacek, P. (2011): Cost oriented humanoid robot. In Proceedings of the 18th IFAC world congress, Milano, Italy, 28 August–2 September 2011. https://doi.org/10.3182/20110828-6-IT-1002.01056
 
Sciavicco, L., Siciliano, B. (2000), Modelling and Control of Robot Manipulators, 2nd Edition, Springer-Verlag, London, UK.
https://doi.org/10.1007/978-1-4471-0449-0
 
Shala, A. (2004). Planning walking patterns for a BIPED robot using FNN-GA. Brussels, Belgium.
Keywords Kinematics, dynamics, biped, Simulink
DOI http://dx.doi.org/10.15208/ati.2017.02
Pages 12-20
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