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Investigation on dynamic modeling of SURENA III humanoid robot with heel-off and heel-strike motions
, Article Iranian Journal of Science and Technology - Transactions of Mechanical Engineering ; Volume 41, Issue 1 , 2017 , Pages 9-23 ; 22286187 (ISSN) ; Yousefi Koma, A ; Khadiv, M ; Mansouri, S ; Sharif University of Technology
Shiraz University
2017
Abstract
The understudy SURENA III humanoid robot was designed and fabricated at the Center of Advanced Systems and Technologies (CAST) located in the Universityof Tehran. In this paper, a full dynamic model of SURENA III in different walking phases including heel-offand heel-strike motions is presented. To this end, first a trajectory planning method based on robot kinematics is introduced. Then, the multi-body dynamics of the robot links are calculated using Lagrange and Kane approaches which are then verified. In this model, the power transmissionsystem is considered to be ideal. Afterward, system identification routine is adopted to model the dynamic behavior of the power transmission system. By...