Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/14414
Title: Design and control of a soccer-playing humanoid robot
Authors: HO HOAN NGHIA
Keywords: humanoid robot, real-time OS, inverse kinematics, Linear Inverted Pendulum model, Genetic Algorithm, Virtual Model Control.
Issue Date: 3-Jan-2005
Source: HO HOAN NGHIA (2005-01-03). Design and control of a soccer-playing humanoid robot. ScholarBank@NUS Repository.
Abstract: In this thesis, the designing and controlling of a small-sized humanoid robot will be presented. The designing consists of both control system and mechanical system. The mechanical system has modular design and is mainly built from sheet metal to reduce cost. The control system has two levels: high level using PC-104 and low level using Basic Stamp microcontroller. This system runs on RT-Linux real-time operating system. To control the robot, trajectories in Cartesian space are planned and will be transformed to joint space using inverse kinematics. The Cartesian space planning is studied both in simulation and in real robot. In simulation, Linear Inverted Pendulum model is used to simulate the dynamic bipedal walking while polynomial curve fitting is used to plan the trajectories in real robot. Learning algorithm is also studied in simulation using Virtual Model Control framework and Genetic Algorithm. Learning algorithm is useful to improve the performance of the robot.
URI: http://scholarbank.nus.edu.sg/handle/10635/14414
Appears in Collections:Master's Theses (Open)

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