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| Autor: | Hong-Yan Ke, 柯宏諺 |
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| Rok vydání: | 2007 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 95 The main purpose of this thesis is to design the biped robot of upper- limb. Dynamic walking for a biped walking robot to compensate for the three-axis (pitch, roll and yaw-axis) angle on an arbitrary planned ZMP by trunk motion. The governing differential equations were derived based on kinematics and dynamic equilibrium considerations. The three-axis differential equations are derived from ZMP theory. In the MSC VISUAL NASTRAN 4D simulation, the equilibrium position of the lower-limb positions were calculated first, then utilizing MSC VISUAL NASTRAN 4D and MATLAB to calculate upper-limb equilibrium position and yaw-axis angle. This procedure was repeated when the robot motion proceed. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
| Externí odkaz: |
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