Inverse Kinematics Model for a 18 Degrees of Freedom Robot

Miguel Angel Ortega-Palacios; Amparo Dora Palomino-Merino; Fernando Reyes-Cortes

doi:10.14313/jamris/1-2023/3

.blurhash-client-img { display: none !important; }

Inverse Kinematics Model for a 18 Degrees of Freedom Robot

Journal of Automation, Mobile Robotics and Intelligent Systems

Volume 17 (2023): Issue 1 (March 2023)

By: Miguel Angel Ortega-Palacios, Amparo Dora Palomino-Merino and Fernando Reyes-Cortes

Open Access

|Dec 2023

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.

References

J. Fierro, J. A. Pámanes, V. Santibanez, G. Ruiz and J. Ollervides. “Condiciones para una marcha elemental del robot NAO,” AMRob Journal, Robotics: Theory and Applications, no. 4(1), pp. 13–18, 2014.
Search in Google Scholar Back to article
S. Bertrand, O. Bruneau, F. B. Ouezdou and S. Alfayad. “Closed-form solutions of inverse kinematic models for the control of a biped robot with 8 active degrees of freedom per leg,” Mechanism and Machine Theory, vol. 49, pp. 117–140, 2012, doi: 10.1016/j.mechmachtheory. 2011.10.014.
Search in Google Scholar Back to article
O. Ruiz, Análisis cinemático y dinámico de un robot bípedo de 12 GDL internos utilizando la formulación Newton-Euler, Universidad Nacional Autónoma de México, México: MS Thesis, 2014.
Search in Google Scholar Back to article
J. Zhang, Z. Yuan, S. Dong, M. T. Sadiq, F. Zhang and J. Li. “Structural design and kinematics simulation of hydraulic biped robot,” Applied Sciences, vol. 10, no. 18, p. 6377, 2020, doi: 10.3390/ app10186377.
Search in Google Scholar Back to article
J. Che, Y. Pan, W. Yan and J. Yu. “Kinematics Analysis of Leg Configuration of An Ostrich Bionic Biped Robot,” International Conference on Robotics and Control Engineering, pp. 19–22, 2021, doi: 10.1145/3462648.3462652.
Search in Google Scholar Back to article
Y. Gong, R. Hartley, X. Da, A. Hereid, O. Harib, J. K. Huang and J. Grizzle. “Feedback control of a cassie bipedal robot: Walking, standing, and riding a segway,” In 2019 American Control Conference (ACC), pp. 4559–4566, 2019, doi: 10.23919/ACC.2019.8814833.
Search in Google Scholar Back to article
J. Che, Y. Pan, W. Yan and J. Yu. “Leg Configuration Analysis and Prototype Design of Biped Robot Based on Spring Mass Model,” In Actuators, vol. 11, no. 3, p. 75, 2022, doi: 10.3390/act11030075.
Search in Google Scholar Back to article
Y. Hu, X. Wu, H. Ding, K. Li, J. Li and J. Pang. “Study of Series-parallel Mechanism Used in Legs of Biped Robot,” 7th International Conference on Control, Automation and Robotics (ICCAR), pp. 97–102, 2021, doi: 10.1109/ICCAR52225. 2021.9463499.
Search in Google Scholar Back to article
E. Yılmazlar and H. Kuşçu. “Walking pattern generation and control for a bipedal robot,” Machines. Technologies. Materials, vol. 15, no. 3, pp. 99–102, 2021.
Search in Google Scholar Back to article
T. D. Huy, N. C. Cuong and N. T. Phuong. “Control of biped robot with stable walking,” American Journal of Engineering Research (AJER), vol. 2, pp. 129–150, 2013.
Search in Google Scholar Back to article
D. Bharadwaj and M. Prateek. “Kinematics and dynamics of lower body of autonomous humanoid biped robot,” International Journal of Innovative Technology and Exploring Engineering (IJITEE), vol. 8(4), pp. 141–146, 2019.
Search in Google Scholar Back to article
K. Cherfouh, J. Gu, U. Farooq, M. U. Asad, R. Dey and V. E. Balas. “Bilateral Teleoperation Control of a Bipedal Robot Gait Using a Manipulator,” IFAC-PapersOnLine, vol. 55, no. 1, pp. 765–770, 2022, doi: 10.1016/j.ifacol.2022.04.125.
Search in Google Scholar Back to article
D. A. a. A. Vivas. “Modelado y control de un robot bípedo de nueve grados de libertad,” In VIII Congreso de la Asociación Colombiana de Automática, 2009.
Search in Google Scholar Back to article
S. Kajita, H. Hirukawa, K. Harada and K. Yokoi. “Kinematics,” in Introduction to humanoid robotics, Springer Berlin Heidelberg, 2014, pp. 19–67, doi: 10.1007/978-3-642-54536-8.
Search in Google Scholar Back to article
E. H. Franco and R. V. Guerrero. “Diseño Mecánico y Análisis Cinemático del Robot Humanoide AXIS,” Pistas Educativas, no. 35(108), 2018.
Search in Google Scholar Back to article
R. L. Williams. “DARwin-OP humanoid robot kinematics,” In International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, vol. 45035, pp. 1187–1196, 2012, doi: 10.1115/DETC2012-70265.
Search in Google Scholar Back to article
N. Kofinas, E. Orfanoudakis and M. G. Lagoudakis. “Complete analytical inverse kinematics for NAO,” In 2013 13th International Conference on Autonomous Robot Systems, pp. 1–6, 2013, doi: 10.1109/Robotica.2013.6623524.
Search in Google Scholar Back to article
G. A. Castillo, B. Weng, W. Zhang and A. Hereid. “Robust feedback motion policy design using reinforcement learning on a 3D digit bipedal robot,” International Conference on Intelligent Robots and Systems (IROS), pp. 5136–5143, 2021, doi: 10.1109/IROS51168.2021.9636467.
Search in Google Scholar Back to article
M. A. Meggiolaro, M. S. Neto and A. L. Figueroa. “Modeling and Optimization with Genetic Algorithms of Quasi-Static Gait Patterns in Planar Biped Robots,” In Congreso Internacional de Ingeniería Mecatrónica y Automatización (CIIMA 2016), pp. 1–10, 2016.
Search in Google Scholar Back to article
G. Reyes, J. A. Pamanes, J. E. Fierro and V. Nunez. “Optimum Walking of the Bioloid Humanoid Robot on a Rectilinear Path,” In Computational Kinematics. Springer, Cham, pp. 143-151, 2018, doi: 10.1007/978-3-319-60867-9_17.
Search in Google Scholar Back to article
A. B. Krishnan, S. Aswath and G. Udupa. “Real Time Vision Based Soccer Playing Humanoid Robotic Platform,” In Proceedings of the 2014 International Conference on Interdisciplinary Advances in Applied Computing, pp. 1–8, 2014, doi: 10.1145/2660859.2660966.
Search in Google Scholar Back to article
J. R. Cerritos-Jasso, K. A. Camarillo-Gómez, J. A. Monsiváis-Medina, G. Castillo-Alfaro, G. I. Pérez-Soto and J. A. Pámanes-García. “Kinematic Modeling of a Humanoid Soccer–Player: Applied to BIOLOID Premium Type A Robot,” In FIRA RoboWorld Congress, Vols. Springer, Berlin, Heidelberg, pp. 49–63, 2013, doi: 10.1007/978-3642-40409-2_5.
Search in Google Scholar Back to article
H. D. Chiang and C. S. Tsai. “Kinematics Analysis of a Biped Robot,” In Proceeding of International Conference on Service and Interactive Robots, 2011.
Search in Google Scholar Back to article
C. A. M. Domínguez and E. M. Sánchez. “Análisis estático y dinámico de un robot bípedo durante la fase de soporte simple de un ciclo de marcha,” In Memorias del XXIII Congreso Internacional Anual de la SOMIM, 2017.
Search in Google Scholar Back to article
L. E. Arias, L. I. Olvera, P. J. A. and J. V. Núñez. “Patrón de marcha 3D de tipo cicloidal para humanoides y su aplicación al robot Bioloid,” Revista Iberoamericana de Ingeniería Mecánica, Vols. 18(1), 3, 2014.
Search in Google Scholar Back to article
D. A. B. Montenegro, Generación de Trayectorias para un Robot Bípedo basadas en Captura de Movimiento Humano, 2016.
Search in Google Scholar Back to article
J. V. Nunez, A. Briseno, D. A. Rodriguez, J. M. Ibarra and V. M. Rodriguez. “Explicit analytic solution for inverse kinematics of bioloid humanoid robot,” In 2012 Brazilian Robotics Symposium and Latin American Robotics Symposium, pp. 33–38, 2012, doi: 10.1109/SBRLARS. 2012.62.
Search in Google Scholar Back to article
M. V. Granja Oramas. “Modelación y análisis de la cinemática directa e inversa del manipulador Stanford de seis grados de libertad”, Bachelor’s thesis, Quito, 2014.
Search in Google Scholar Back to article
E. H Franco, R. V. Guerrero, “Diseño Mecánico y Análisis Cinemático del Robot Humanoide AXIS”, Pistas Educativas, 35(108), 2018.
Search in Google Scholar Back to article

Articles in this issue

DOI: https://doi.org/10.14313/jamris/1-2023/3 | Journal eISSN: 2080-2145 | Journal ISSN: 1897-8649

Journal RSS Feed

Language: English

Page range: 22 - 29

Submitted on: Sep 1, 2022

Accepted on: Jul 17, 2023

Published on: Dec 26, 2023

Published by: Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP

In partnership with: Paradigm Publishing Services

Publication frequency: 4 issues per year

Keywords:

bioloid premium robot,

Related subjects:

Artificial intelligence,

Engineering,

Electrical engineering,

Control engineering, metrology and testing,

Mechanical engineering,

Fundamentals of mechanical engineering

© 2023 Miguel Angel Ortega-Palacios, Amparo Dora Palomino-Merino, Fernando Reyes-Cortes, published by Łukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

Volume 17 (2023): Issue 1 (March 2023)