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Mechanical design and kinematic analysis of the AH1N1 humanoid robot

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4 Author(s)
Sánchez, M.E.H. ; Eng. Fac., La Salle Univ., Mexico City, Mexico ; Lara Leyva, F.J.K. ; Limón, R.C. ; Zannatha, J.M.I.

In this paper the mechanical design and kinematic analysis of a humanoid robot are presented. This robot is designed to perform as a soccer player, according to the current structure and dimensions restrictions stated by the International RoboCup Federation for the Kid-Size league in the RoboCup competition. The corresponding mechanism has 26 degrees-of-freedom (dof). It is composed by two legs (6 dof each), two arms (5 dof each), a torso (2 dof waist) and a head (2 dof). The direct and inverse kinematic analysis were carried out by means of applying the Denavit-Hartenberg methodology and using Screw Theory. The last one led to an analytical solution to the inverse kinematic problem, given that the mechanical design was correctly planned. As a future work, these mathematical models will be used in the elaboration of a simulator that permits to analyze the robot's movement and to generate adequate gait patterns.

Published in:

Electrical Communications and Computers (CONIELECOMP), 2011 21st International Conference on

Date of Conference:

Feb. 28 2011-March 2 2011