Open AccessKinematic and Singularity Analysis of 10 DOF Lower Body of Humanoid Robot
Author(s) -
Deepak Bharadwaj,
Natraj Mishra,
Maheshwar Pathak
Publication year - 2022
Publication title -
mathematical modelling and engineering problems/mathematical modelling of engineering problems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.26
H-Index - 11
eISSN - 2369-0747
pISSN - 2369-0739
DOI - 10.18280/mmep.090226
Subject(s) - humanoid robot , kinematics , revolute joint , inverse kinematics , joint (building) , jacobian matrix and determinant , orientation (vector space) , computer science , control theory (sociology) , singularity , robot , mathematics , simulation , artificial intelligence , engineering , geometry , physics , structural engineering , classical mechanics , control (management)
With the existing kinematic configuration of a humanoid robot, fast turning is the main issue encountered. The joint orientation of the lower body of a humanoid robot does not allow the system to move fast. The first joint of the existing setup is started with the rotary joint vertically up z-direction. A change in the joint orientation had been proposed for the kinematic configuration of the humanoid robot. The first joint in this proposed work is the revolute joint along the x-direction of movement. Forward and inverse kinematics were obtained for the maximum value of the reach of the leg in the environment. Jacobian was described for every joint. Singularity posture was obtained at the location.