Development of linear and curve trajectory path planning for bipedal robot using a camera vision
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 succesfully 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. The bipedal robot uses this ability to follow a dynamic object that is guided by a camera vision. The camera vision is located outside the bipedal robot and connected to planner using computer. The bipedal robot will receive the goal position as command from the planner. This result shows also the development of Planning and Monitoring module of PEM (Planning, Execution and Monitoring) architecture.
B01345 | (wh) | Available |
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