Design, fabrication and control of a two-legged walking robot

被引：0
|
作者：
Ayaz, Y [1 ]
Afzal, B [1 ]
Saeed, M [1 ]
Saeed-ur-Rehman [1 ]
机构：
[1] NUST, Coll E&ME, Dept Mech Engn, Rawalpindi, Pakistan
来源：
ROMOCO' 04: PROCEEDINGS OF THE FOURTH INTERNATIONAL WORKSHOP ON ROBOT MOTION AND CONTROL | 2004年
关键词：
D O I：
暂无
中图分类号：
TP24 [机器人技术];
学科分类号：
080202 ; 1405 ;
摘要：
A 4-DOF (Degrees of Freedom) two-legged robot named NUSTBOT-1 has been designed and built. The paper contains a description of the design and working of this robot, supported by mathematical analysis of its structure. The results obtained from this analysis have been applied for tracing the trajectory of the centre of gravity of the robot, as it walks. One of the main design objectives was the simplicity of its control algorithm. The robot shifts its centre of gravity by bending the upper part of its body sideways. It can perform basic walking and turning operations and is programmable for different applications even by users who do not have any technical knowledge about bipedal walking.
引用
收藏
页码：73 / 78
页数：6
相关论文
共 50 条
  • [1] A solvable walking model for a two-legged robot
    Dilao, Rui
    Teixeira, Nuno
    EUROPEAN PHYSICAL JOURNAL PLUS, 2023, 138 (11):
  • [2] A solvable walking model for a two-legged robot
    Rui Dilão
    Nuno Teixeira
    The European Physical Journal Plus, 138
  • [3] An adaptive PID control algorithm for the two-legged robot walking on a slope
    Mandava, Ravi Kumar
    Vundavilli, Pandu R.
    NEURAL COMPUTING & APPLICATIONS, 2020, 32 (08): : 3407 - 3421
  • [4] An adaptive PID control algorithm for the two-legged robot walking on a slope
    Ravi Kumar Mandava
    Pandu R. Vundavilli
    Neural Computing and Applications, 2020, 32 : 3407 - 3421
  • [5] Prescribed Motion of a Two-legged Walking Robot on a Rough Cylinder
    Golubev, Yury
    Melkumova, Elena
    PROCEEDINGS OF 2016 INTERNATIONAL CONFERENCE STABILITY AND OSCILLATIONS OF NONLINEAR CONTROL SYSTEMS (PYATNITSKIY'S CONFERENCE), 2016,
  • [6] Two-legged Walking Robot Prescribed Motion on a Rough Cylinder
    Golubev, Yury
    Melkumova, Elena
    EIGHTH POLYAKHOV'S READING, 2018, 1959
  • [7] Development of two-legged robot
    Zielińska, Teresa
    Chmielniak, Andrzej
    Lecture Notes in Control and Information Sciences, 2009, 396 : 165 - 173
  • [8] Development of Two-legged Robot
    Zielinska, Teresa
    Chmielniak, Andrzej
    ROBOT MOTION AND CONTROL 2009, 2009, 396 : 165 - 173
  • [9] TWO-LEGGED ROBOT CONCEPTS
    Lestach, Lukas
    Kelemen, Michal
    Kelemenova, Tatiana
    Virgala, Ivan
    Mikova, Lubica
    Prada, Erik
    Hroncova, Darina
    Varga, Martin
    Sincak, Peter Jan
    Merva, Tomas
    MM SCIENCE JOURNAL, 2022, 2022 : 5812 - 5818
  • [10] Motion Control Study of Two-legged Wheeled Robot
    Yu, Checao
    Ma, Xinzhi
    Zhu, Xuejun
    Yang, Xudong
    Lai, Huige
    Yang, Aidi
    Gongcheng Kexue Yu Jishu/Advanced Engineering Sciences, 2024, 56 (05): : 156 - 167
12345