Modeling and control of a humanoid robot

What is it about?

This work deals with modeling of humanoid robots, especially for planning motion using the Denavit-Hartenberg method to determine the inverse kinematics of used trajectory (Matlab/Simulink and SimMechanics). The simulations are applied to an existing robot, in order to determine the optimal trajectory for the robot motion.

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Why is it important?

In this paper is presented a kinematic and dynamic model and feedback control (individual control of joint actuators-motors) of a humanoid robot. We considered that walking and stability during execution of walking of humanoid robot is an important task. Our method can be applied to a wide range of step lengths. The performance evaluation is carried out using simulation.

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