| Key Words |
Humanoid robot; modelling; biped robot; nonlinear model; walking algorithm; multivariable identification |
| Abstract |
In this article, the authors present two differentapproaches to modeling a biped humanoid robot. The first approach to modeling is based entirely on geometric and physical parameters, using blocks from SimMechanicsTM library in Simulink®, as well as personally constructed blocks by the authors. The other modeling approach consists of several stages: first a basic walking algorithm is implemented on a biped humanoid robot through the programming language C with purpose to record a set of experimental data necessary for the identification procedure. An initial identification with a multivariable ARX model is then made, and final model is in state-space and is obtained by identification the initial one by the method of the predicted error |
| Article PDF | Download article (PDF) |
