Design and Analysis of Kinematic Model for a 12-DOF Bipedal Robot

Designing and controlling bipedal robots with intricate kinematic structures, particularly those with numerous degrees of freedom, presents considerable challenges. This research provides an in-depth examination of kinematic modelling for a 12-DoF bipedal robot, emphasizing the accurate implementation of forward and inverse kinematic methods. Utilizing DenavitHartenberg parameters, the research systematically explores the kinematic relationships between the robot's joints and links, facilitating accurate calculations of the robot's pose and movement. A significant aspect of this research is developing a forward kinematic model that predicts end-effector positions alongside an inverse kinematic approach to compute the necessary joint angles for achieving specific positions. The insights derived from this study contribute theoretically and practically to understanding kinematic modeling in high-DoF bipedal robots. By emphasizing the necessity for precise modeling, the findings aim to enhance robotic control and performance. This study sets the stage for future developments in the creation and deployment of advanced bipedal robotic systems.