Mechatronics Development and Trajectory Control of a Biped Robot
Date Issued
2011
Date
2011
Author(s)
Chen, Chun-Sheng
Abstract
The thesis focuses on the mechatronic system and trajectory control of the biped robot. The electrical system of the robot designed by the author includes motor drive units, main signal breakout board, and power board. The embedded device with analog input and DIO developed by National Instrument is utilized to detect and process all signal of the biped robot. In order to improve the efficiency of the embedded device, some optimization methods for speeding up the acquisition rate is used. The electrical system and embedded device is utilized to drive the robot with an offline control and record sensor data of the robot for analysis. The trajectories of the robot is generated by the linear inverted pendulum model (LIPM) and Zero-Moment Point(ZMP). Parameters of the trajectory are designed and discussed to realize the static walking of the robot. Next, walking efficiency, ZMP trajectories, and CG trajectory are discussed according to the recording data from experiments. Finally, a conclusion about how to improve the walking stability is drawn.
Subjects
biped robot
motor drive
signal acquisition and process
mechatronics
ZMP
Type
thesis
File(s)![Thumbnail Image]()
Loading...
Name
ntu-100-R98522813-1.pdf
Size
23.54 KB
Format
Adobe PDF
Checksum
(MD5):2683d6702ae2462a6b757926f949b287