Teen-Size Humanoid “FLoW” Complete Analytical Kinematics

Abstract

Humanoid research in Indonesia is quite a lot, but in reality only limited in kid-size proportional size, while for the Teen-Size is still rare. Research on the Teen-Size Humanoid robot requires more joints to be able to perform the movement compared to the size of Kid-Size, therefore required more complex modeling to determine the movement. With complete kinematics anlysis, the movement of the robot can be solved. With kinematic forward-invers, researchers can determine the movement of robots by controlling the motor parts that function as a joint on the robot. In this study, the modeling uses D-H parameter, because this modeling has been widely used, besides the calculation can be solved by computing. And then for the simulation can be done with V-REP software. Forward-invers kinematics can be implemented on the PID algorithm, in order to generate speed on the motor that can form an angle on the motor to make the movement. The result of this research is to obtain equation of matrix transformation from all body parts of robot. With the creation of this Humanoid Teen-Size robot, it is hoped that the research on Humanoid robot in Indonesia will be increasingly diverse and increasing, and can be used as a support and reference in the development of Humanoid Teen-Size next.

Kinematics modeling of six degrees of freedom humanoid robot arm using improved damped least squares for visual grasping

“…The basic algorithm of inverse kinematics is to calculate the vector joint to reach the target position and can be expressed as (6).…”

“…The forward kinematics transform the joint space vectors to the cartesian space vectors whilst the inverse 289 kinematics do the opposite way [5]. The most used method to solve forward kinematics is the homogeneous transformation matrix (HTM) based on the Denavit-Hartenberg (D-H) parameters [6]. The HTM can be defined from the rotation and the translation elements in the D-H parameters or directly from the Euler system of the robot.…”