Study and design of biped robot of ten DOF for stability analysis in walking process

C. M. Cordova-Villarreal, J. C. Montesdeoca-Contreras, R. S. Avila-Campoverde, J. A. Morales-Garcia

Resultado de la investigación: Contribución a una conferenciaDocumento

Resumen

© 2015 IEEE. In the world, the human robots being a important part in the relationship between human-machine. In this context, a study and design to implementation of a biped robot that is focused in a mathematical modeling and analysis of direct and kinematic, using matrix techniques proposed by Denavit and Hartenberg (DH). In the first part only legs are implemented using digital servos motors without feedback signals. Is necessary to use a high performance driver to control of biped robot, in this case an Arduino DUE are used for this propose. The results show a high performance of mathematical modeling when the walking surface is flat, but when the walking surface change the performance is no good.
Idioma originalInglés
Páginas322-326
Número de páginas5
DOI
EstadoPublicada - 1 ene. 2015
EventoProceedings of the 2015 IEEE North West Russia Section Young Researchers in Electrical and Electronic Engineering Conference, ElConRusNW 2015 - St. Petersburg, Federación de Rusia
Duración: 2 feb. 20153 feb. 2015

Conferencia

ConferenciaProceedings of the 2015 IEEE North West Russia Section Young Researchers in Electrical and Electronic Engineering Conference, ElConRusNW 2015
Título abreviadoElConRusNW 2015
País/TerritorioFederación de Rusia
CiudadSt. Petersburg
Período2/02/153/02/15

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