Study and Design of Biped Robot of Ten DOF for Stability Analysis in Walking Process

被引：0

作者：

Cordova-Villarreal, C. M. ^{[1
]}

Montesdeoca-Contreras, J. C. ^{[1
]}

Avila-Campoverde, R. S. ^{[1
]}

Morales-Garcia, J. A. ^{[1
]}

机构：

[1] Univ Politecn Salesiana, Carrera Ingn Elect, Cuenca, Ecuador

来源：

PROCEEDINGS OF THE 2015 IEEE NORTH WEST RUSSIA SECTION YOUNG RESEARCHERS IN ELECTRICAL AND ELECTRONIC ENGINEERING CONFERENCE (2015 ELCONRUSNW) | 2015年

关键词：

Biped robot; Walking Process; Denavit and Hartenberg; Arduino Module;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

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.

引用

页码：322 / 326

页数：5

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