NDLI: A review and analysis of the trajectory gait generation for humanoid robot using inverse kinematic

Content Provider	IEEE Xplore Digital Library
Author	Zadeh, S.J. Khosravi, A. Moghimi, A. Roozmand, N.
Copyright Year	2011
Description	Author affiliation: Department of Computer Engineering, Robotic Committee, Shiraz Payame Noor University, Shiraz, Iran (Zadeh, S.J.; Khosravi, A.; Moghimi, A.) \|\| Psychology Department, Shiraz Payame Noor University, Shiraz, Iran (Roozmand, N.)
Abstract	In this paper, a control strategy based on the Inverse Kinematic (IK) is proposed for gate generation for a two — legged humanoid. According to this approach, a pattern oscillation plan is designed by some of walking basic feature such as: the sole-maximum height of the ground, time of walking and etc, at the first time. Then all of the body coordination position (X, Y, Z) — Joints and links — was adapted from the oscillation plan using Forward Kinematic (FK), after determination positions, every joint angle has been calculated using inverse kinematic and is sent to every joint motor controller as a specifics Command string periodically. For determination positions, a trajectories must be designed that shown sole coordination(X, Y) at the space. In other to implementation this algorithm, we use a model of the humanoid robot that is called Nao Robot and implement our algorithm on its simulation environment (that is used for international soccer humanoid robotic simulation participates, its name is "rcssserver3D").
Starting Page	358
Ending Page	362
File Size	534479
Page Count	5
File Format	PDF
ISBN	9781424486786
e-ISBN	9781424486793
DOI	10.1109/ICECTECH.2011.5942115
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-04-08
Publisher Place	India
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Jacobian matrices Robot kinematics Nao Robot Trajectory Gait Generation Kinematics Inverse Kinematic Trajectory Forward Kinematic Joints
Content Type	Text
Resource Type	Article

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