Inverse Kinematics Model For a 18 Degrees of Freedom Robot

Authors

DOI:

https://doi.org/10.14313/JAMRIS/1-2023/3

Keywords:

bioloid premium robot, forward kinematics, Denavit-Hartenberg method, kinematic chain

Abstract

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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Published

21.12.2023

Issue

ISSUE 1/2023

Section

Articles

License

Copyright (c) 2023 Journal of Automation, Mobile Robotics and Intelligent Systems

Creative Commons License

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

How to Cite

Ortega-Palacios, M. A., Palomino-Merino, A. D., & Reyes-Cortes, F. . (2023). Inverse Kinematics Model For a 18 Degrees of Freedom Robot. Journal of Automation, Mobile Robotics and Intelligent Systems, 17(1), 22-29. https://doi.org/10.14313/JAMRIS/1-2023/3