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- W2593189098 abstract "DARwIn-OP is an anthropomorphic robot with intelligence-open platform and twenty degree of freedom(DOF), in which joints are driven by dynamixel motor MX-28T. This paper mainly investigates kinematics analysis and gait planning issues of DARwIn-OP. Denavit-Hartenberg method is applied to direct kinematics and inverse kinematics analysis. In trajectory generation, based on foothold point locations, this paper utilizes three-dimensional linear inverted pendulum model for a biped walking pattern generation to obtain center of mass(COM) trajectory and zero moment position (ZMP) trajectory. For the sake of applying the trajectory into the real modeling, we apply the 4th spline interpolation method to obtain correct COM trajectory. At last, MATLAB simulation results are given." @default.
- W2593189098 created "2017-03-16" @default.
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- W2593189098 date "2016-12-01" @default.
- W2593189098 modified "2023-10-01" @default.
- W2593189098 title "Kinematic analysis and gait planning for a DARwIn-OP Humanoid Robot" @default.
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- W2593189098 doi "https://doi.org/10.1109/robio.2016.7866530" @default.
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