Kinematic model analysis and development of walking algorithm for 5 degree of freedom bipedal robot
This thesis will develop a five-degrees of freedom bipedal robot, analyze the kinematic model and design the gait planning. The problem of this thesis is how to make the bipedal robot walk properly. The equation to get the hip height, height of the swinging leg and the step distance for the bipedal robot, including the angle value will be derived and the results of the angle values will be used as the input for the bipedal robot program. From the program, the bipedal robot will be tested and qualitatively analyzed and compared with the mathematic result. Graphs of the angle, hip height, height of the swinging leg and the step distance values will be given. The torque and power analysis will also be calculated and compared with the datasheet of the servo motor.
|B01126||(wh)||Available but not for loan - Missing|
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