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Design of bipedal walking robot and ...

Malakar, Bijaya.

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Design of bipedal walking robot and reduction of dynamic impact in joints.

紀錄類型:	書目-語言資料,印刷品 : Monograph/item
正題名/作者:	Design of bipedal walking robot and reduction of dynamic impact in joints./
作者:	Malakar, Bijaya.
面頁冊數:	154 p.
附註:	Adviser: Behnam Bahr.
Contained By:	Masters Abstracts International45-02.
標題:	Engineering, Mechanical. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=1439060
ISBN:	9780542949487

Design of bipedal walking robot and reduction of dynamic impact in joints.
Malakar, Bijaya.

Design of bipedal walking robot and reduction of dynamic impact in joints. - 154 p.

Adviser: Behnam Bahr.

Thesis (M.S.)--Wichita State University, 2006.

Bipedal walking robots have distinguished themselves from other robots not only for their better mobility but also for the increased amount of complexity in their architecture. The issue of walking stability has inherently been related with these in various aspects from dynamics to controls. It has been defined in various ways for different aspects and these definitions have served as guidelines for designing a walking robot.

ISBN: 9780542949487Subjects--Topical Terms:

783786
Engineering, Mechanical.

Design of bipedal walking robot and reduction of dynamic impact in joints.
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245 1 0 $a Design of bipedal walking robot and reduction of dynamic impact in joints.
300 $a 154 p.
500 $a Adviser: Behnam Bahr.
500 $a Source: Masters Abstracts International, Volume: 45-02, page: 1051.
502 $a Thesis (M.S.)--Wichita State University, 2006.
520 $a Bipedal walking robots have distinguished themselves from other robots not only for their better mobility but also for the increased amount of complexity in their architecture. The issue of walking stability has inherently been related with these in various aspects from dynamics to controls. It has been defined in various ways for different aspects and these definitions have served as guidelines for designing a walking robot.
520 $a This research is based on a design of a walking robot and development of a walking trajectory. Among the various approaches implemented in order to attain control of two-legged walking, this study attempted to linearize the walking trajectory by dividing it into finite discrete sections. Using the method of kinematics inversion to generate the initial open loop path, the study looks into implementation of the results for a successful walking mechanism. Further it dealt with stepping velocity control by using ground contact trigger and aimed at reducing the stress developed in joints due to dynamic forces.
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650 4 $a Engineering, Robotics. $3 1018454
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