Trajectory dancing modelling of humanoid robot dancing 33 degree of freedom

Abstract

This paper described about humanoid robot dancing which designed like human and can dance like the real dancer with flexibility of human dancer. Part of link and frame of this humanoid robot dancing was built from 3D printing technique. Dance movement will be resemble the motion system possessed by humans which design of robot seize on mechanical approach, and will be controlled by a motion program to be included in the motion system. Humanoid currently developed to resemble human beings, including the shape of human skeleton and their functions. During this period, humanoid robot dancing rare develop a complex system of abdominal motion system. Therefore, withdrawn hypothesis presence of abdominal motion system can improve their existing motion systems. Some possible methods used in these systems, such as inverse kinematic, and forward kinematic. Trajectory dancing style rise from two kinds of kinematic. Inverse kinematic will controlled any motion of leg motion system. This system will hand over degree value in joint space as output. Position in Cartesian coordinate space as input. Timing control for every step from primitive style is needed. Therefore, actuator of ankle will not burden in execution of working because it will hand over some smoothness in every single last step in execution. Forward kinematic controlled abdominal motion system and give Cartesian coordinate space as output. From that method we were successfully built trajectory dancing modelling of humanoid robot dancing.