Please use this identifier to cite or link to this item: http://scholarbank.nus.edu.sg/handle/10635/48941
Title: Design and control of a teleoperation system for humanoid walking
Authors: SIM WAI YONG
Keywords: teleoperation, humanoid robot
Issue Date: 28-Nov-2006
Source: SIM WAI YONG (2006-11-28). Design and control of a teleoperation system for humanoid walking. ScholarBank@NUS Repository.
Abstract: This thesis presents the design and control of a teleoperation system for humanoid. The focus of this project is the teleoperation of the sagittal plane walking. The teleoperation system consists of three major components - the master exoskeleton, PC and the slave humanoid robot.The motivation behind this research project is to explore the possibility of the novel control method of teleoperation for humanoid walking. Two of the major factors that limit the application of humanoid robot in uncontrolled working environment are the lack of robustness in the current walking methods and lack of breakthrough in artificial intelligence. Participation of human in the control loop is appealing as this takes away the dependence of artificial intelligence.The thesis describes the details of the mechincal design of the master exoskeleton, the control architecture of the overall system, and the control methods. Simulation result of direct mapping of human walking profille on humanoid robot is presented. Experimental results that verify the hardware system and different control method are also presented.
URI: http://scholarbank.nus.edu.sg/handle/10635/48941
Appears in Collections:Master's Theses (Open)

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