ZMP-based Walking Pattern Planning for a Biped Robot Using Jacobian Pesudoinverse Kinematics
碩士 === 逢甲大學 === 自動控制工程學系 === 105 === In this thesis, a design approach of biped robot walking pattern based on zero moment point (ZMP) concept is given out. The biped robot has sixteen degrees of freedom (DOFs), each hand has three DOFs, each leg has five DOFs. This thesis is organized as follows. F...
| Main Authors: | , |
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| Other Authors: | |
| Format: | Others |
| Language: | zh-TW |
| Published: |
2017
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| Online Access: | http://ndltd.ncl.edu.tw/handle/7ug6q4 |