| Summary: | 碩士 === 國立高雄第一科技大學 === 電機工程研究所碩士班 === 104 === Mechanism design of a humanoid robot determines joint torque and the walking gait stability. Improper design not only influences walking gait stability, but is also possible to break components and servo motors. In this thesis, the mechanism of a humanoid robot for stronger joints is designed and implemented. The stronger joints focuse on the humanoid robot actions: walking, standing, and squat down and stand up.
In this research, gears designed in leg mechanism strengthen humanoid robot joints. And auxiliary sprints are added at the joints of knee and ankle to boost servo motor torque. In addition, linear inverted pendulum model is used to derive humanoid robot walking gait for position and velocity trajectories. Via forward and inverse kinematics, the joint trajectories are calculated from the walking gaits.
In the situation of no influence at walking gait, strengthening joints increases the torque of knee and ankle to make the humanoid robot being able to squat down and stand up. In addition, experiments to compare the signals of position and torque at sprint and no sprint are also included.
|
|---|
