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Humanoid NAO: A Kinematic Encounter

Published online by Cambridge University Press:  02 March 2021

Chinmaya Sahu Open the ORCID record for Chinmaya Sahu [Opens in a new window] ,
Dayal R. Parhi ,
Priyadarshi Biplab Kumar Open the ORCID record for Priyadarshi Biplab Kumar [Opens in a new window] ,
Manoj Kumar Muni Open the ORCID record for Manoj Kumar Muni [Opens in a new window] ,
Animesh Chhotray Open the ORCID record for Animesh Chhotray [Opens in a new window]  and
Krishna Kant Pandey Open the ORCID record for Krishna Kant Pandey [Opens in a new window]
Chinmaya Sahu*
Affiliation:
School of Mechanical Engineering (SMEC), Vellore Institute of Technology Vellore, Vellore 632014, Tamil Nadu, India
Dayal R. Parhi
Affiliation:
Robotics Laboratory, Mechanical Engineering Department, National Institute of Technology Rourkela, Rourkela 769008, Odisha, India E-mail: dayaldoc@yahoo.com
Priyadarshi Biplab Kumar
Affiliation:
Mechanical Engineering Department, National Institute of Technology Hamirpur, Hamirpur 177005, Himachal Pradesh, India E-mail: p.biplabkumar@gmail.com
Manoj Kumar Muni
Affiliation:
Mechanical Engineering Department, Indira Gandhi Institute of Technology Sarang, Dhenkanal 759146, Odisha, India E-mail: manoj1986nitr@gmail.com
Animesh Chhotray
Affiliation:
Department of Mechanical Engineering, Gandhi Institute for Education and Technology, Baniatangi, Bhubaneswar, Khordha 752060, Odisha, India E-mail: chhotrayanimesh@gmail.com
Krishna Kant Pandey
Affiliation:
Department of Mechanical Engineering, G H Raisoni Institute of Engineering and Technology, Pune 412207, Maharashtra, India E-mail: kknitrkl@yahoo.in
*
*Corresponding author. E-mail: mechchinu@gmail.com
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Summary

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In the current research, kinematic analysis of a humanoid NAO is attempted. Here, both Denavit–Hartenberg (DH) parameter approach and multibody formulation approach have been analyzed. In the DH parameter approach, the NAO robot is solved by separating it into five individual kinematic chains. In the multibody formulation approach, NAO is divided into 15 segments, and each segment is analyzed. Kinematic analysis holds a significant importance; as from the data obtained in the kinematic analysis, the robots can be designed for real-time path planning and navigation. The current analysis is a novel approach to analyze the NAO based on its kinematic constraints.

Keywords

Constraint equationsDH parametersForward kinematicsHumanoid NAOMultibody formulation

Information

Type
Article
Information
Robotica , Volume 39 , Issue 11 , November 2021 , pp. 1997 - 2007
Copyright
© The Author(s), 2021. Published by Cambridge University Press

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