Motion Control of Seven-Link Human Bipedal Model

摘要

This paper discusses development of the mathematical model for a planar seven-link bipedal model which is comprised of an upper body and two legs (thigh, shank and feet in every leg). In sagittal plane, the bipedal model possesses seven degrees of freedom (DOF). Procedures of kinematic model and dynamic model constructions are presented in this paper. Kinematic model includes the coordinates of center of mass that used in the mathematical model procedure. The mathematical model for dynamic equations of motion based on the absolute angle is obtained using Lagrange's equations. Then, a dimension transformation of mathematical model into relative angles was performed. New inertia matrix of the transformed equations was verified to be symmetric. To investigate the performance of the seven-link bipedal robot using the obtained mathematical mode, a simulation was conducted. The results from the simulation show that the dynamic equations of motion of the model are successfully achieved tracking the reference trajectories by giving small error value of every joint in the model. As conclusion, this equation is able to be used to investigate the motion control of seven-link human bipedal model.