The development and walking control of biped robot
ZHANG RUIXIANG
ZHANG RUIXIANG
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Abstract
Biped locomotion has been widely studied because of its adaptability to various grounds even to those rough terrains that are impossible for the powerful wheeled machines.More importantly, human beings are two-legged, and our living environment is very suitable for bipedal locomotion. For the above two important reasons, the study of bipedal locomotion and the development of biped robot are meaningful, and the research results could be widely used in future applications. The purpose of this project is to build a biped robot platform and, to carry out the study of dynamic walking and artificial intelligence algorithms. The bipedal locomotion is studied and a dynamic walking algorithm which adapts to various terrains is developed. The biped robot has been successfully developed and achieved the desired performance. It realizes complicated actions such as walking avoiding obstacles and kicking a ball.
Keywords
Biped robot, mechanical design, control system configuration, dynamic walking
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Date
2004-11-25
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Thesis