This paper dealing with the problem of generation motion of biped robot, to solve this problem, was introduces a new method of implementation a biped robot walking pattern generation by using a Model Predictive control (MPC) First, the basic of biped robots' motion was reviewed and was discussed the elements of motion controller. The dynamics of a biped robot is modeled as a running cart on a table which gives a convenient representation for generation ZMP trajectory. After reviewing approach of 3D Linear Inverted Pendulum Model, a pattern generator was designed, lastly in MATLAB/Simulink and using Model Predictive Control Toolbox (MPCT) which provides functions, an app, and Simulink blocks was used for designing and simulating a motion generator based on model predictive controllers (MPC).The results of simulation are shown that we can realize such controller for generating trajectory of Center of Mass and Zero Moment point by using the MPC. The smooth trajectory of CoM is generated and the resulted ZMP follows the reference with good accuracy.
This paper presents Forward kinematics analysis for the Biped Robot Model (AK robot) and focuses on the considered lower body of a 12 DOF biped robot. Each leg modeled as a kinematic chain with Seven links connected by Six revolute joints. The Description and parameters of AK robot was introduced, also in this paper studied the forward kinematics that refers the analytical study. For describing robot kinematics was used Denavit & Hartenberg (D-H) [1] method, which shows that a general transformation between two joints requires four parameters. These parameters known as the D-H parameters of D-H notation which allows the step from a link to the following link by 4 basic transformations that depends only on the robot's constructive characteristics
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