Read e-book online Introduction to Humanoid Robotics PDF

By Shuuji Kajita, Hirohisa Hirukawa, Kensuke Harada, Kazuhito Yokoi (auth.)

This ebook is for researchers, engineers, and scholars who're prepared to appreciate how humanoid robots circulate and be managed. The publication starts off with an outline of the humanoid robotics study historical past and state-of-the-art. Then it explains the mandatory arithmetic and physics similar to kinematics of multi-body method, Zero-Moment aspect (ZMP) and its dating with physique movement. Biped jogging keep watch over is mentioned extensive, because it is without doubt one of the major pursuits of humanoid robotics. quite a few issues of the total physique movement iteration also are mentioned. eventually multi-body dynamics is gifted to simulate the entire dynamic habit of a humanoid robotic. in the course of the publication, Matlab codes are proven to check the algorithms and to assist the reader´s understanding.

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Yet however, dominant participant teams have chosen humanoid robot designs for this challenge. Moreover, DRC offers an official humanoid robot Atlas developed by Boston Dynamics. Its copies will be used by seven teams. The DRC final will be held in December 2014, and with no doubt, the DARPA Robotics Challenge will have an enormous impact to humanoid robotics research in the world. Chapter 2 Kinematics The theory to analyze the relationship between the position and attitude of a link and the joint angles of a mechanism is called Kinematics.

Sister); % Show my sister’s name end Fig. m: Show the name of all links This program takes an ID number as input, and check it first. If the ID is not 0, the program prints the corresponding link name and calls PrintLinkName with the sister ID number, and then calls PrintLinkName using the child ID number. If the ID is 0, the program does nothing. m, we can execute “PrintLinkName(1)” on the Matlab command line and get the names of the child links within the tree under the “BODY” link. Calling a function from inside it is named a recursive call.

Next we will focus on the ankle local coordinates. As shown in Fig. 25(c), from vector r you can calculate the ankle roll and pitch angles. So, q7 = atan2(ry , rz ) q6 = −atan2 rx , sign(rz ) ry2 + rz2 − α. 7. It is built into Matlab and is also available as a built-in function in most programming languages. Also sign(x) is a function that returns +1 if x is a positive value and −1 if it is negative. What remains is the yaw, roll and pitch angles at the base of the leg. From the equations that define each joint R7 = R1 Rz (q2 )Rx (q3 )Ry (q4 )Ry (q5 + q6 )Rx (q7 ), we obtain Rz (q2 )Rx (q3 )Ry (q4 ) = RT1 R7 Rx (−q7 )Ry (−q5 − q6 ).

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