Joint demeanors of an anthropomorphic robot in designing the novel walking gait

., Md. Akhtaruzzaman and Shafie, Amir Akramin (2011) Joint demeanors of an anthropomorphic robot in designing the novel walking gait. In: URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, 23-26 Nov. 2011, Incheon.

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Abstract

The movement patterns of various joint actuators of the humanoid system are described in this paper to identify and understand the behavior of the biped walking motions. This paper focuses on two major parts of the study, firstly the analysis and design of human like walking gait for an anthropoid system and secondly the implementation of the designed gait to navigate the robot from a source position to a destination point. The walking strategy is demonstrated on a flat surface where the robot performs its tasks without losing its upright position. The perfect combination of actuator motions determines the robustness of the humanoid system where the angular positions are established through the Inverse Kinematics analysis depending on the geometrical and trigonometric formulation. The paper mainly represents the joint demeanors of the humanoid robot in performing the designed walking gait.

Item Type:	Conference or Workshop Item (Full Paper)
Additional Information:	5119/22597
Uncontrolled Keywords:	Anthropomorphous system , Biped walking , Humanoid robot , Joint demeanors , Walking gait
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ210.2 Mechanical devices and figures. Automata. Ingenious mechanism. Robots (General)
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Engineering Kulliyyah of Engineering > Department of Mechatronics Engineering
Depositing User:	Dr Amir Shafie
Date Deposited:	16 Mar 2012 10:50
Last Modified:	20 Sep 2012 15:19
URI:	http://irep.iium.edu.my/id/eprint/22597

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