| Author | Anan Sittitanasut |
| Call Number | AIT Thesis no.ISE-99-33 |
| Subject(s) | Mobile robots.
|
| Note | A thesis submitted in partial fulfillment of the requirements for the degree of Master of Engineering, School of Advanced Technologies |
| Publisher | Asian Institute of Technology |
| Series Statement | Thesis ; no. ISE-99-33 |
| Abstract | This thesis is to develop a balancing controlled biped robot. The development started with a
new biped robot prototype design. It was mechanically and electrically design. The
mechanical design composes of prototype of biped robot, transmission, kinematics analysis
and balancing design. The Biped robots are using a different walking mechanism and a new
balance designed. The Bipedal locomotion is achieved using a static equilibrium to emulate
the human walking gait. The electrical design includes control system design and control
algorithm. The control algorithm was separately developed on the basis of the human walking
gait. The control algorithm was developed only for the forward walking motion. I'm using the
Z-80 embedded controller on these at the moment. There are 24-bits output. I used 3-bits
output for control a stepper motor (step clock, direction and disable/enable). |
| Year | 1999 |
| Corresponding Series Added Entry | Asian Institute of Technology. Thesis ; no. ISE-99-33 |
| Type | Thesis |
| School | School of Advanced Technologies (SAT) |
| Department | Department of Industrial Systems Engineering (DISE) |
| Academic Program/FoS | Industrial Systems Engineering (ISE) |
| Chairperson(s) | Manukid Parnichkun.; |
| Examination Committee(s) | Naber, Helmut;Bohez, Erik L.J.; |
| Degree | Thesis (M.Eng.) - Asian Institute of Technology |