Design of Kokone, a Small Humanoid Robot

被引：0
|
作者：
Gonzalez Hernandez, V. [1 ]
Ramirez Torres, G. [2 ]
机构：
[1] CINVESTAV, IPN, Dept Comp Sci, Mexico City 14000, DF, Mexico
[2] CINVESTAV, Informat Technol Lab, Tamaulipas, Mexico
来源：
2009 6TH INTERNATIONAL CONFERENCE ON ELECTRICAL ENGINEERING, COMPUTING SCIENCE AND AUTOMATION CONTROL (CCE 2009) | 2009年
关键词：
Biped locomotion; inverse kinematics; genetic algorithm; humanoid robot;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In this paper we present the design of Kokone, a small humanoid robot. Kokone ("kid" in nahuati, a mexican dialect) has 22 degrees of freedom (DoF), with an aluminum structure (1.5 mm thickness). A PC sends control signals to the robot via a serial link. The forward kinematics model is obtained with the Denavit-Hertenberg method. The inverse kinematics problem is solved using a genetic algorithm (GA). The solutions obtained by the GA are then plotted in order to verify their suitability, and show a good performance. Our main objective with this project is to obtain an affordable robotic platform for the development of robotic vision algorithms and navigation strategies.
引用
收藏
页码：567 / +
页数：2
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