Kinematic model analysis and development of walking algorithm for 5 degree of freedom bipedal robot

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Kinematic model analysis and development of walking algorithm for 5 degree of freedom bipedal robot

Tanaya, Prianggada Indra - Personal Name; Hendraji, Henricus R. - Personal Name; Setiono, Gerald Wahyudi - Personal Name;

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.

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Series Title: -
Call Number: 1126
Publisher: : Swiss German University., 2012
Collation: -
Language: English
ISBN/ISSN: -
Classification: NONE
Content Type: -
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Edition: -
Subject(s): MT
Specific Detail Info: -
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