Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/15973
Title: Design and Control of a Small Size Humanoid Robot
Authors: MUI TSZ SANG, SAMUEL
Keywords: Humanoid, mechanical design, control, path planning, slope-walking, localization
Issue Date: 17-Jul-2008
Source: MUI TSZ SANG, SAMUEL (2008-07-17). Design and Control of a Small Size Humanoid Robot. ScholarBank@NUS Repository.
Abstract: This thesis describes the design process and the control method of a humanoid robot, RO-PE-V. A detailed description of the selected hardware and the mechanical structure design is presented. The control of the walking motion of the robot involves the use of inverse kinematics which allows more intuitive path planning to be performed in the Cartesian space instead of the joint space. A slope-walking algorithm with the use of sensory feedback is also proposed in this thesis. The use of an omni-directional vision system is also being tested on the robot, and although the image processing portion is not included in this thesis, the approach to perform localization using omni-directional vision system shall be discussed. RO-PE-V has participated in RoboCup 2006 and 2007 and achieved encouraging results.
URI: http://scholarbank.nus.edu.sg/handle/10635/15973
Appears in Collections:Master's Theses (Open)

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