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Introduction to Humanoid Robot Modeling, Kinematics and Aldebaran´s NAO H25


Salomon Diether, Wadehn, Frederico

Semester Group Project, FS 12 (10161)

This document intends to give an introduction to basic humanoid robot modeling, i.e. the concept of kinematic chains, kinematics and dynamics, and sets a focus on the analysis and comparison of dierent numerical approaches to the solving of inverse kinematics. Once a geometrical model has been set up or derived from an actual robot, kinematics allow us to describe its motion in 2D/3D space. In humanoid robot modeling especially inverse kinemat- ics is of great importance, as it allows to nd a joint conguration such that the end-eector of the robot-arm reaches a given target point. Numerical approaches are typically used to solve inverse kinematics problems, and four important ones shall be presented together with a comparison of their advantages and drawbacks. Velocity and acceleration kinematics extend static kinematics by enabling us to plan trajectories of velocity and acceleration and therefore control the forces/torques applied to the robot arm in order to execute a certain motion. Finally a dynamics model allows us to analyse the behaviour of a real physical robot arm. Two educational (inverse kinematics) simulations as well as a kinematic chain model of the research/educational humanoid robot NAO H25 by Aldebaran were created in the course of this group project and come with this document. They are primarily intended to help explain the presented concepts and give a starting point for further experiments and simulations. 2


Type of Publication:

(16)Semester Group Work

B. Svetozarevic

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