Kinematic Analysis and Control for Darwin Humanoid Robot

Abstract

This paper consists of two parts: kinematics analysis (forward kinematics and inverse kinematics) and Trajectory generation (theory, simulation and application) for DARwIn-OP. The robot is a twenty degree of freedom humanoid robot developed by Purdue University, University of Pennsylvania and Virginia Tech and produced by Korean manufacturer ROBOTIS Inc. Each joint is controlled by Dynamixel MX-28T servo motor. The robot studied in this paper is 454.5mm tall with a weight of 2.9kg. Its main purpose is for research in the fields of kinematics, humanoid, artificial intelligences and vision.

Part one: the research on two legs (12 DOF) of DARwIn-OP is the most challenging problems, so this project focuses on 6-dof legs for kinematics analysis and gait planning. Presented are a description and analysis of DARwIn-OP. Two methods are applied to each joint in right leg (analysis of the left leg are the same as right leg), joint angle limits, forward kinematics and inverse kinematics (obtaining different solutions and selection for the correct one).

Part two: trajectory generation part presents of using 3D linear inverse pendulum model assumption to generate COM trajectory and corresponding ZMP trajectory based on foothold point locations. Using fourth order spline interpolation method to generate ankle trajectory for both ankles and correct theoretical COM trajectory to practical which can be applied on real case modeling. Finally together with the trajectories, generate MATLAB simulation figure and real DARWIN-OP Humanoid Robot application.