Development of Biped Locomotion Robot

• Main Authors: Chyuan-Hwa Hwang, 黃全華
• Other Authors: Jong-Lin Wu
• Format: Others
• Language: zh-TW
• Published: 1993
• Online Access: http://ndltd.ncl.edu.tw/handle/30318956309490156886

碩士 === 國立臺灣科技大學 === 工程技術研究所 === 81 === The main purpose of this study is to develope the system of biped locomotion robot . Mechanism of the biped robot is designed to have 10 degree of freedom , 6 degree of freedom in the sagital plan , 4 degree of freedom in the lateral plan. The electrical devices of this system are DC servo moter , PWM amplify , A/D card , D/A card , potentiometer ,...,etc . Controller of this system is 486 personal computer . In the software , Assembly language and C language are utilized to develop control program , trajectory planing program and trajectory analysis program . Link coordinate frame and link parameters are defined by the method of link parameters . Transformation matrix are utilized to analyse the trajectory of mass center of robot . Dynamic equations of each link are derived by Newton-Euler law with coordinate transformation .