02686nas|a2200409 i 4500 20260818090618.0 240400s1999 th uzm rtt 00| a1eng d .b11786152 AIT Thesis no.ISE-99-33 Anan Sittitanasut Development of a balancing controled biped robot Bangkok : Asian Institute of Technology, 1999 63 p.: ill. Thesis ; no. ISE-99-33 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). Mobile robots Manukid Parnichkun, Chairperson Naber, Helmut, Examination committee Bohez, Erik L.J., Examination Committee Asian Institute of Technology. Thesis ; no. ISE-99-33 Full-Text http://203.159.5.9/ait-thesis/detail.php?q=B12318 .b11786152 mnait u 240330 0 000424 m a u 0 mnait mnarc mnait 22 40 20 Barcode : 30050120814131 CREATED : 2014-03-21 RECORD # : i12777365 LPATRON : 0 LCHKIN : - # RENEWALS : 0 # OVERDUE : 0 IUSE3 : 0 TOT CHKOUT : 0 TOT RENEW : 0 Barcode : 30050160099635 CREATED : 2016-04-27 RECORD # : i12958700 LPATRON : 0 LCHKIN : - # RENEWALS : 0 # OVERDUE : 0 IUSE3 : 0 TOT CHKOUT : 0 TOT RENEW : 0 Barcode : 30050121006364 CREATED : 2021-05-02 RECORD # : i1332116x LPATRON : 0 LCHKIN : - # RENEWALS : 0 # OVERDUE : 0 IUSE3 : 0 TOT CHKOUT : 0 TOT RENEW : 0 28658 28658 0 0 0 0 MAIN MAIN mnait 2026-08-18 50.00 0 AIT Thesis no.ISE-99-33 30050120814131 2026-08-18 09:06:18 3 2026-08-18 22 0 0 0 0 MAIN MAIN mnarc 2026-08-18 0 AIT Thesis no.ISE-99-33 30050160099635 2026-08-18 09:06:18 1 2026-08-18 40 0 0 0 0 MAIN MAIN mnait 2026-08-18 0 AIT Thesis no.ISE-99-33 30050121006364 2026-08-18 09:06:18 1 2026-08-18 20