Mathematical Modeling and Comparative Study of 12-DoF Biped Robot Using Screw Theory and Denavit–Hartenberg Convention

  • K. K. Rohith
  • Navaneeth Varma
  • A. P. SudheerEmail author
  • M. L. Joy
Conference paper
Part of the Lecture Notes in Mechanical Engineering book series (LNME)


The studies on legged robots have gained huge attention in recent years because of the agility that makes them applicable to a variety of environments. Biped robots are two-legged robots which replicate human anthropomorphism. Locomotion of biped robots is highly nonlinear, and modeling such a biped system demands some critical assumptions in foot rotation, ground contact, foot, and hip trajectories, etc. The gait pattern of biped walking can be expressed as a combination of single support phases (SSP) and double support phases (DSP). Kinematic and dynamic analysis is required for both configurations so that a realistic behavior can be modeled. There are various methods used for modeling of biped robots and similar open-chain robotic systems. The scope of this paper is to compare the kinematic models of a 12 DoF biped robot using Screw theory framework and Denavit–Hartenberg (D-H) convention. Further, the dynamic modeling is carried out using recursive Newton–Euler method and Lagrangian-Euler method for torque variations for single support phase. Joint angle, velocity, acceleration, and torque variations are analyzed during dynamic walking.


Biped robot Screw theory Denavit–Hartenberg convention Recursive Newton–Euler formulation 


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© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringNational Institute of Technology CalicutKozhikodeIndia

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