Walking Pattern Planning and Balance Control of a Biped Robot

• Main Authors: Yu-Feng Wu, 吳毓峰
• Other Authors: Jenq-Lang Wu
• Format: Others
• Language: zh-TW
• Published: 2013
• Online Access: http://ndltd.ncl.edu.tw/handle/32006563373680240802

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 transformation method and inverse kinematics by geometrics approach. In addition, the geometric method is used to plan the joints trajectories. We install an inclinometer on the top of the biped robot for preventing the robot falling down as the swing foot is landing. In addition, we install pressure sensors under the feet for measuring the center of gravity of biped robot and determining whether the center of gravity is in the stable region. Some compensations will be made if the center of gravity is not in the desired region.