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Designing, developing and analyzing of maneuver walking gait of bipedal robot

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Bipedal robots have been developed for four times at Department of Mechatronics. This thesis work focuses on the result of the 3rd and 4th development of bipedal robots (known as BR 3 and BR 4). The 3rd bipedal robot (BR 3) is a robot that is able to walk successfully with its legs. This robot capable to walk in straight movement. The BR 4 has 4 DoF (Degree of Freedom) more compare to the BR 3. This BR 4 manuverability, among other, are walking straight, rotating, and turning left/right. This thesis contribution is on improving the walking gait of previous results on bipedal robot at SGU. Several strategies of walking gait have been derived and analysed. Based on this derivation, software source code are developed and executed on an Arduino Board. The software code produced are the basic composition of joints and links, that composing the bipedal robotΓÇÿs limbs. The BR 3 and BR 4, later, is used as a platform to demonstrate following behavior of one to another. This result shows also the development of Executor module of PEM (Planning, Execution and Monitoring) architecture.

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Availability

B01337

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Available

Detail Information

Series Title

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Call Number

1337

Publisher

: Swiss German University., 2013

Collation

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Language

English

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Classification

NONE

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Edition

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Subject(s)

MT

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