18 自由度机器人的逆运动学模型

Q4 Engineering

Journal of Automation, Mobile Robotics and Intelligent Systems Pub Date : 2023-12-21 DOI:10.14313/t4yf9254

Miguel-Angel Ortega-Palacios, Amparo Dora Palomino-Merino, Fernando Reyes-Cortes

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引用次数: 0

摘要

仿人机器人的研究仍然是科学界面临的一项挑战，尽管在这一领域有一些相关的工作，但在文献中发现的一些局限性促使人们需要开发双足机器人的逆运动学建模。本文提出了针对 Bioloid Premium 机器人的研究建议。其目的是为 18 DOF（自由度）双足机器人的逆运动学模型提出一个完整的解决方案。该模型将作为后续工作中获得机器人动态模型的起点。所提出的方法可扩展到其他双足机器人。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Inverse Kinematics Model For a 18 Degrees of Freedom Robot

The study of humanoid robots is still a challenge for the scientific community, although there are several related works in this area, several limitations have been found in the literature that drive the need to develop an inverse kinematic modeling of biped robots. This paper presents a research proposal for the Bioloid Premium robot. The objective is to propose a complete solution to the inverse kinematics model for a 18 DOF (Degrees Of Freedom) biped robot. This model will serve as a starting point to obtain the dynamic model of the robot in a subsequent work. The proposed methodology can be extended to other biped robots.

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来源期刊

Journal of Automation, Mobile Robotics and Intelligent Systems Engineering-Control and Systems Engineering

CiteScore

1.10

自引率

0.00%

发文量

期刊介绍： Fundamentals of automation and robotics Applied automatics Mobile robots control Distributed systems Navigation Mechatronics systems in robotics Sensors and actuators Data transmission Biomechatronics Mobile computing