Design, Gait Generation and Embedded Microcontroller-based Single-axis Servo Controller Implementation for a Biped Walking Robot
碩士 === 中興大學 === 機械工程學系所 === 95 === This thesis designs and develops an e-nuvo-like walking biped robot. Then, an analytic inverse kinematics solution is derived using both algebraic and geometric methods. A ZMP-based walking gait planning is also considered. The forward kinematics is considered usin...
| Main Authors: | , |
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2007
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| Online Access: | http://ndltd.ncl.edu.tw/handle/78141004201993684159 |