KINEMATIC–KINETIC ANALYSIS OF HUMANOID ROBOT STRAIGHT MOTION

  M.S. Foumani1, M.M. Khatibi2 ,* , M. Moradi3, M.K. Mahdiabadi 3     1. Assistant Professor, Sharif University of Technology, Tehran, Iran   2. M . Sc. Student , Faculty of Mechanical Engineering , Semnan University, Semnan, Iran   3. B . Sc. Student, Faculty of Mechanical Engineering, Semnan U niversity, Semnan, Iran   * Corresponding Author: m.m.khatybi@gmail.com     Abstract   Studies and researches accomplished about humanoid robots, to deem exact recognition of robot dynamics parameters necessary to execute a human-like motion. The high number of degree of freedom(DOF) of these robots makes achievement to this recognition more complex. In this paper the walking pattern of a 12 DOFs robot is generated using human motion model. Then relations between robot links are obtained by Denavit-Hartenberg method. Then necessary equations to execute the selected pattern are obtained using these relations and center of gravity( COG) Stability criteria. These equations are solved with composition of Newton-Raphson and singular value decomposition methods. The angular velocity functions of active DOFs are obtained by using linear path generation pattern with parabolic boundaries. Then the Kinematics-Kinetic parameters of robot are calculated at each step. Finally by using Simulink toolbox in Matlab software, a schematic model of robot is simulated in Visual Nastran software and the results are presented.