Design and Implement of Humanoid Robots and Planning of It’s Walking Pattern

• Main Authors: Chih-hao Liu, 劉智豪
• Other Authors: Kuo Yang Tu
• Format: Others
• Language: zh-TW
• Published: 2005
• Online Access: http://ndltd.ncl.edu.tw/handle/50975568445045354117

碩士 === 國立高雄第一科技大學 === 系統與控制工程研究所 === 94 === ABSTRACT The primary purpose of this article is to discuss the mechanism design and application of humanoid robots as well as humanoid robot planning gait trajectory. The use of the bevel gear transmission designed to change the driving force direction robot joints saves space and allows room for the control circuit, battery and camera, et cetera. The gaits of humanoid robots are different based on the mechanism design, terrain and application. This thesis discusses the gaits of two different mechanism designs: the 5-link and the 7-link humanoid robots. The different number of joints, or degrees of freedom, result in different gaits, which have their own characteristics and advantages. Also according to specific needs, the humanoid robot joints can be added or reduced to allow the most suitable gait for different types of terrain. These gaits and the suitability of the gaits in accordance to terrain differences are mentioned in this thesis.