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Bipedal robot construction and behavior simulation using V-rep simulator

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NOTES: CD errorrnThe purpose of this thesis work is to construct the new bipedal robot and design a framework for analyzing bipedal robot behaviour. In this work, the last generation of bipedal robot that has 12 DoF is used. The bipedal robot has ability to walking straight, rotating, and turning left/right. 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 robot?Çÿs limbs.rnThe framework developed uses V-REP simulation software to observe the behaviour of the robots. The system configuration, task and environment of the robot are the main factors affecting its behaviour. The simulation gives a more idealistic behaviour execution rather than realistic. Adjustments can be made to the simulation parameters to provide more realistic performance. Experiment is conducted on bipedal robot by adjusting their dynamic properties and/or surrounding environment. Validation is carried out by comparing the result of simulation and the real robots execution.

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Availability

B01806

(Rack Thesis)

Available

Detail Information

Series Title

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Call Number

1806

Publisher

: Swiss German University., 2015

Collation

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Language

English

ISBN/ISSN

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Classification

NONE

Content Type

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Media Type

-

Carrier Type

-

Edition

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Subject(s)

MT
Simulation
Modelling
Framework
Bipedal robot
Walking gait
Robot behaviour
Maneuver

Specific Detail Info

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Statement of Responsibility

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