DESIGN AND CONTROL OF MECHANICAL STRUCTURE OF LEGO ROBOT WITH 3 DOF
This paper discusses a simplified design of Humanoid Robot with 3 DOF. The main objective is to analyze the theoretical and practical challenges involved in making it. The paper emphasis bringing down the control complexity by reducing the number of actuators used, three, one for each degree of f...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Academica Brancusi
2015-05-01
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| Series: | Fiabilitate şi Durabilitate |
| Subjects: | |
| Online Access: | http://www.utgjiu.ro/rev_mec/mecanica/pdf/2015-01.Supliment/4.pdf |
| Summary: | This paper discusses a simplified design of Humanoid Robot with 3 DOF. The main objective is
to analyze the theoretical and practical challenges involved in making it. The paper emphasis bringing
down the control complexity by reducing the number of actuators used, three, one for each degree of
freedom. . This in turn simplifies the entire design processes and reduces the production cost. It also
describes the stability issues and different walking phases in detail. The proposed robot can be placed
between simple, miniaturized humanoids and the most advanced, sophisticated humanoids. The humanoid
robot is programmed to go forward, backward, to rotate, to stop when it encounters obstacles. He uses
two sensors: one touch, which works as a command button and one ultrasonic which determines the
distance to objects. |
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| ISSN: | 1844-640X 1844-640X |