Dynamic Simulation of a 12 DoF Biped Robot with Newton-Euler Method using Unit Vector Approach

摘要

This paper introduces a dynamic simulation of a biped robot with 12 degrees of freedom (DoF) using the Unit Vector approach. The research focuses on characterizing the 12 DoF biped robot as a dynamic model with a floating base, involving multiple rigid bodies. The robot's representation adopts a floating-base tree structure that interacts with its environment through contact points. The dynamic analysis of the 12 DoF biped robot is carried out using the Newton-Euler (N-E) recursive method. This method is employed to compute joint acceleration, inertia matrices, and forces and torques acting on all links and joints, utilizing the Unit Vector approach.The paper provides a comprehensive, step-by-step explanation of the dynamic analysis process for the 12 DoF biped robot using the Newton-Euler recursive algorithm with the Unit Vector approach. Dynamic simulations are conducted in MATLAB, encompassing both the fixed and swing leg motions during walking. The computed results elucidate the dynamic behavior of the 12 DoF biped robot throughout its walking cycle.