Development of the Modeling for Biped Robot using Inverse Kinematics

Abstract: The legged robot can only walk very similar to human walking pattern. Therefore, many robots have been researched and developed in recent years. However, the biped robots still have many issues for the natural human walking in terms of the redundant degree of freedom, complexity of the kinematics, and stability. In this paper, we have described our biped robot modeling in the forward and inverse kinematics and gotten the results of the simulation for the proposed walking pattern. For the modeling and simulation, we apply some kind of theory such as ZMP, D-H notation, and forward or inverse kinematics to the biped robot