Kinematic Analysis of Darwin's Humanoid Robot

The main objective of this paper is determining Darwin's humanoid robot direct and inverse kinematics. The kinematic and dynamic studies of the robotic systems are the principles and key issues in path control, motion planning, stability and motion modeling. In order to achieve stable and reliable movement in a variety of environmental conditions, it is necessary to take a comprehensive analysis of mobile robot kinematics and dynamics. On the other hand, the higher number of degrees of freedom (DOF) of this type of robots, make the kinematic and dynamic analysis of their movements far more complicated. In this study, direct and inverse kinematics of Darwin's humanoid robot is fully calculated. The derived equations are verified using MATLAB and Webots in which Darwin's model is available. Results show the accuracy of calculated equations.