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URN etd-0720104-150619 Statistics This thesis had been viewed 2631 times. Download 1649 times. Author Ying-chun Yu Author's Email Address No Public. Department Mechanical Engineering Year 2003 Semester 2 Degree Master Type of Document Master's Thesis Language English Page Count 76 Title THE MOTION PLANNING AND IMPLEMENTATION FOR BIPED WALKING ROBOT Keyword ZMP ROBOT MOTION PLANNING CUBIC SPLINE BIPED BIPED CUBIC SPLINE MOTION PLANNING ROBOT ZMP Abstract This research completed the relevant theoretical deduction and implementation of a small-scale biped robot system. It imitates walking motion of human beings. This system contains a total of 10 degrees of freeform. There are six on the right and six on the left. Among them, the hip has three, the knee joint has one, and the ankle joint has two. Although the robot is in a three-dimensional movement space, the freedom layout presents in cross condition. Therefore, we utilize two two-dimensional motional spaces for analysis. This matches the degrees of freedom layout. It also further controls a three-dimensional motional space.
In the part of control, the reverse motion principle is used to derive all the angles for the joints. Then, utilizing the derived joint angles and the forward motion principle and geometry analysis to derive the ZMP(Zero Moment Point) of the robot. Then, a program is used to identify the parameters of the ZMP to plan the posture of the robot, so that ZMP falls in the stable regions. Then, Cubic spline method is used to derive the motion tracking equation that is used to control the inertia force caused by the condition change. This will make it smoother and more stable.
Advisor Committee Guan-Chun Luh - advisor
none - co-chair
none - co-chair
Files Date of Defense 2004-06-30 Date of Submission 2004-07-20