AI SearchDevelopment of a balancing controled biped robot
Call Number: AIT Thesis no.ISE-99-33 Material type:
SeriesSeries: Asian Institute of Technology. Thesis ; no. ISE-99-33Publication details: Bangkok : Asian Institute of Technology, 1999Description: 63 p.: illSubject(s): Online resources: Dissertation note: Thesis (M.Eng.) - Asian Institute of Technology Summary: This thesis is to develop a balancing controlled biped robot. The development started with a new biped robot prototype design. It was mechanically and electrically design. The mechanical design composes of prototype of biped robot, transmission, kinematics analysis and balancing design. The Biped robots are using a different walking mechanism and a new balance designed. The Bipedal locomotion is achieved using a static equilibrium to emulate the human walking gait. The electrical design includes control system design and control algorithm. The control algorithm was separately developed on the basis of the human walking gait. The control algorithm was developed only for the forward walking motion. I'm using the Z-80 embedded controller on these at the moment. There are 24-bits output. I used 3-bits output for control a stepper motor (step clock, direction and disable/enable).
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22-AIT Thesis (Replacement)
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Asian Institute of Technology Library AIT Publications | AIT Thesis no.ISE-99-33 (Browse shelf(Opens below)) | 3 | Available | 30050120814131 | |||||||||||||
40-Archives
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Asian Institute of Technology Library Archives | AIT Thesis no.ISE-99-33 (Browse shelf(Opens below)) | 1 | Available | 30050160099635 | |||||||||||||
20-AIT Publication
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Asian Institute of Technology Library AIT Publications | AIT Thesis no.ISE-99-33 (Browse shelf(Opens below)) | 1 | Available | 30050121006364 |
Thesis (M.Eng.) - Asian Institute of Technology
A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies
This thesis is to develop a balancing controlled biped robot. The development started with a new biped robot prototype design. It was mechanically and electrically design. The mechanical design composes of prototype of biped robot, transmission, kinematics analysis and balancing design. The Biped robots are using a different walking mechanism and a new balance designed. The Bipedal locomotion is achieved using a static equilibrium to emulate the human walking gait. The electrical design includes control system design and control algorithm. The control algorithm was separately developed on the basis of the human walking gait. The control algorithm was developed only for the forward walking motion. I'm using the Z-80 embedded controller on these at the moment. There are 24-bits output. I used 3-bits output for control a stepper motor (step clock, direction and disable/enable).
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