Abstract
SUMMARYIn the current research, kinematic analysis of a humanoid NAO is attempted. Here, both Denavit–Hartenberg (DH) parameter approach and multibody formulation approach have been analyzed. In the DH parameter approach, the NAO robot is solved by separating it into five individual kinematic chains. In the multibody formulation approach, NAO is divided into 15 segments, and each segment is analyzed. Kinematic analysis holds a significant importance; as from the data obtained in the kinematic analysis, the robots can be designed for real-time path planning and navigation. The current analysis is a novel approach to analyze the NAO based on its kinematic constraints.
Publisher
Cambridge University Press (CUP)
Subject
Computer Science Applications,General Mathematics,Software,Control and Systems Engineering
Reference38 articles.
1. A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices
2. Forward kinematics analysis of a novel 3-DOF parallel manipulator;Wu;Scientia Iranica Trans. B Mech. Eng,2019
3. On the Comprehensive Kinematics Analysis of a Humanoid Parallel Ankle Mechanism
4. Closed form solution for direct and inverse kinematics of a US-RS-RPS 2-DOF parallel robot;Sanjuan;Scientia Iranica Trans. B Mech. Eng.,2018
5. Multi-Contact Heavy Object Pushing With a Centaur-Type Humanoid Robot: Planning and Control for a Real Demonstrator
Cited by
5 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献