000 02686nas|a2200409 i 4500
005 20260818090618.0
008 240400s1999 th uzm rtt 00| a1eng d
035 _a.b11786152
099 9 _aAIT Thesis no.ISE-99-33
100 0 _aAnan Sittitanasut
245 1 0 _aDevelopment of a balancing controled biped robot
260 _aBangkok :
_bAsian Institute of Technology,
_c1999
300 _a63 p.:
_bill.
490 1 _aThesis ;
_vno. ISE-99-33
502 _aThesis (M.Eng.) - Asian Institute of Technology
500 _aA thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies
520 _aThis 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).
650 1 0 _aMobile robots
700 0 _aManukid Parnichkun,
_eChairperson
700 1 _aNaber, Helmut,
_eExamination committee
700 1 _aBohez, Erik L.J.,
_eExamination Committee
810 2 _aAsian Institute of Technology.
_tThesis ;
_vno. ISE-99-33
856 _3Full-Text
_uhttp://203.159.5.9/ait-thesis/detail.php?q=B12318
907 _a.b11786152
_bmnait
_cu
902 _a240330
998 _b0
_c000424
_dm
_ea
_fu
_g0
945 _lmnait
945 _lmnarc
945 _lmnait
942 _c22
942 _c40
942 _c20
909 _aBarcode : 30050120814131
_bCREATED : 2014-03-21
_cRECORD # : i12777365
_dLPATRON : 0
_eLCHKIN : -
_f# RENEWALS : 0
_g# OVERDUE : 0
_hIUSE3 : 0
_iTOT CHKOUT : 0
_jTOT RENEW : 0
909 _aBarcode : 30050160099635
_bCREATED : 2016-04-27
_cRECORD # : i12958700
_dLPATRON : 0
_eLCHKIN : -
_f# RENEWALS : 0
_g# OVERDUE : 0
_hIUSE3 : 0
_iTOT CHKOUT : 0
_jTOT RENEW : 0
909 _aBarcode : 30050121006364
_bCREATED : 2021-05-02
_cRECORD # : i1332116x
_dLPATRON : 0
_eLCHKIN : -
_f# RENEWALS : 0
_g# OVERDUE : 0
_hIUSE3 : 0
_iTOT CHKOUT : 0
_jTOT RENEW : 0
999 _c28658
_d28658