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Biped Robot Turning Design and Humanoid Gait Experiment Analysis

The locomotion robots have wheeled, biped, quadruped and so on. Walking robot may not move faster or more popular than wheeled robot. But walking robot is a good assistant to pass through the rough roadway and to explore unknown landforms. The advantages of walking robot have: mobility, walking in danger environment, across obstacles, up stairs and down stairs and nimbleness. These difficulties environment are the obstacles for the wheeled robot. Today, many robots are designed to make up for human body and ability. Application in explore the outer space, to relieve the victims of a disaster, to move work, to offer greater convenience to the people, housekeeper, to substitute for handicapped limbs and so on.
In the thesis, we analyze the gait of biped robot. Biped robot arrive a destination rapidly in the limit environment. Biped can use turning motion gait to bypass obstacles. We purpose to maintain motion velocity of biped robot and come out the speed and stride distance of the biped robot. The studies have: biped robot turning design, planning humanoid motion gait and experiment motion gait.

Identiferoai:union.ndltd.org:NSYSU/oai:NSYSU:etd-0112109-111426
Date12 January 2009
CreatorsSung, Chi-feng
ContributorsWang, Jiunn-Jyh Junz, Her, Inn Chyn, Li, Kuen Ming
PublisherNSYSU
Source SetsNSYSU Electronic Thesis and Dissertation Archive
LanguageCholon
Detected LanguageEnglish
Typetext
Formatapplication/pdf
Sourcehttp://etd.lib.nsysu.edu.tw/ETD-db/ETD-search/view_etd?URN=etd-0112109-111426
Rightsnot_available, Copyright information available at source archive

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