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.
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收藏
页码：73 / 78
页数：6
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