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INVESTIGATION ON ZMP VARIATION OF 12-DOF BIPED ROBOT IN SCREW THEORY FRAMEWORK

NAVANEETH VARMA, A. P. SUDHEER, M. L. JOY

Jan 24, 2021

Biped robots are the robots that reproduce human locomotion. Biped robots perform significantly in difficult terrains compared to wheeled robots because of their discrete surface contacts. These robots find wide variety of applications in fields such as medical rehabilitation, industries, disaster management, and defense. The two-legged walking is a highly nonlinear phenomenon and hence achieving stable locomotion is a major challenge in biped robot development. In this work, a 12-DoF biped robot is developed and dynamic stability of the robot for different foot trajectories is investigated using zero-moment point (ZMP) criterion. The kinematic modelling of biped robot is carried out using screw theory and the dynamic equations of motion are framed using recursive Newton–Euler (N–E) method. The stability of the biped robot while executing foot trajectories such as cycloid and Bezier curve is analyzed for single support phase (SSP).

SCREW THEORY ROBOTICS

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