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URN etd-0816106-203147 Statistics This thesis had been viewed 3184 times. Download 1455 times. Author Chia-Ching Chu Author's Email Address No Public. Department Mechanical Engineering Year 2005 Semester 2 Degree Master Type of Document Master's Thesis Language Chinese&English Page Count 146 Title Walking Trajectory Planning for a Biped Robot Keyword stable region torque center of mass ZMP ZMP center of mass torque stable region Abstract This thesis will plan some off-line walking trajectory for a 12 DOF biped robot. Those trajectories are walking straightly, and turning. For those
purpose, the walking trajectory Planning must consider about the torque output limit of motors. Thus, the research will compute the motor’s torque during walking, and set it as constrains.
When planning the walking trajectory, this research will generate independent trajectory on coronal plane and sagital plane, and combine to a 3D trajectory. The mechanism will use two two-link mechanisms for trajectory generating, and combining all the two-link mechanisms that is the trajectory of the whole mechanism.
Finally, the off-line trajectory will apply in the real biped robot, and check it available or not.
Advisor Committee Guan-Chun Luh - advisor
Yen-Cheng Lin - co-chair
Yin-Tien Wang - co-chair
Files Date of Defense 2006-06-29 Date of Submission 2006-08-16