Research of 2D Periodically Walking of Variable Speed in Point Feet Bipedal Robot

• Main Authors: Hong-Xiang Yu, 虞宏祥
• Other Authors: Ching-Long Shih
• Format: Others
• Language: zh-TW
• Published: 2010
• Online Access: http://ndltd.ncl.edu.tw/handle/80538412539626118002

碩士 === 國立臺灣科技大學 === 電機工程系 === 98 === This thesis studies on the analysis and experiment of a bipedal robot that can dynamics walk with variable speed periodically. Due to the robot is designed without hip; the leg length would be closed to human size. According to walk periodically, the behavior could define to single support and double support phase which process alternate each other. After it mixed sport of single support and double support phase, it can use feedback calculation for balancing before the controller output to the motor of the joint. It will cancel design tolerance or the variously gap between joint parts. Before the robot walk, calibrating joints in close loop control is necessary. The experiment will check dynamic walking with various speeds on balance behavior.