System Implementation and Gait Planning of a Pointfeet Bipedal Robot

• Main Authors: Hung-hsi Lin, 林鴻熙
• Other Authors: Ching-long Shih
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/38183377729243289767

碩士 === 國立臺灣科技大學 === 電機工程系 === 98 === This thesis aims to utilize DSP F28335 to achieve the establishment of bipadal robot system. The bipadal robot will be placed on treadmill walking machine using the fixed speed mode. The bipadal robot was designed with point feet, and made the use of devices, sensors with potentiometer, inclinometer, accelerometers, and magnetic reed switch, the sensor's analog signals through analog filters and then converted into digital signals. Digital signal through the digital filter processing calculated by the direct kinematics turns out the result of the bipadal robot’s walking status. Gait trajectory, which emulates the human walking to generate a few discrete points. The use of inverse kinematics to calculate the angle of axes fixed, and then make up by piecewise T-curve interpolation, to connect the shaft into its designated trajectory.