Title :
Biped simulation with Robotics Toolbox for MATLAB
Author :
Sajjad, Imran ; Shahzad, Muhammad Kashif
Author_Institution :
Sch. of Sci. Eng., Lahore Univ. of Manage. Sci., Lahore, Pakistan
Abstract :
This paper focuses on using the Robotics Toolbox in MATLAB for simulating the motion and environmental physics of a two-legged humanoid robot. The said software is built primarily for single serial-link manipulators in a free environment without holonomic constraints. Methods for additional functionality required for a biped interacting with an environment and control schemes for simulation are presented here.
Keywords :
control system analysis computing; humanoid robots; legged locomotion; mathematics computing; robot dynamics; MATLAB; Robotics Toolbox; biped simulation; environmental physics simulation; motion simulation; robot dynamics; single serial-link manipulators; two-legged humanoid robot; End effectors; Foot; Force; Joints; Mathematical model; Biped; MATLAB; Robotics Toolbox; Simulation;
Conference_Titel :
Robotics and Emerging Allied Technologies in Engineering (iCREATE), 2014 International Conference on
Conference_Location :
Islamabad
Print_ISBN :
978-1-4799-5131-4
DOI :
10.1109/iCREATE.2014.6828334
