The Symbolic Solution for the Kinematic Task of a Biped Robot

Authors

  • Cs.Z. Mate Transilvania University of Brasov, Romania
  • E. Faluvegi Transilvania University of Brasov, Romania
  • L. Cristea Transilvania University of Brasov, Romania

Keywords:

symbolic solution, direct kinematics, inverse kinematics, model mathematic, biped robot

Abstract

This paper deals with the kinematics solution of biped robots. It debates the direct and inverse kinematics problems of Leg’s 5-DOF biped robot, with which a leg can accumulate a position by multiple angle combinations. The symbolic solution for kinematics equations of biped robots is of great importance for the efficient controllability of these robots. The symbolic form of the kinematics equations describes explicitly in trigonometric form the biped robots’ sole position and orientation according to the joint coordinates.

Author Biographies

Cs.Z. Mate, Transilvania University of Brasov, Romania

Dept. of Precision Mechanics and Mechatronics

E. Faluvegi, Transilvania University of Brasov, Romania

Dept. of Precision Mechanics and Mechatronics

L. Cristea, Transilvania University of Brasov, Romania

Dept. of Precision Mechanics and Mechatronics

Downloads

Published

2011-11-30

Issue

Vol. 4(53) No. 2 (2011)

Section

MECHANICAL ENGINEERING