Walking Pattern Planning and Balance Control of a Biped Robot
碩士 === 國立臺灣海洋大學 === 電機工程學系 === 101 === This thesis tries to design a controller for a biped robot with sixteen degrees of freedom. The main objective is to achieve smooth walking. The controller is realized by a PIC18F4520 microcontroller. We derive direct kinematics for the biped robot by D-H tran...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2013
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| Online Access: | http://ndltd.ncl.edu.tw/handle/32006563373680240802 |