Citation
Za'Balawi, Ibrahim Ismail (2009) Trajectory Planning and Motion Recognition for Rhythmic Movements of a Biped Robot. PhD thesis, Multimedia University. Full text not available from this repository.
Official URL: http://vlib.mmu.edu.my/diglib/login/dlusr/login.ph...
Abstract
In this research, Response Surface based Methodology (RSM-based) is proposed as a systematic methodology to characterize the parameters of the implemented CPG. The CPG has been constructed using four coupled non-linear oscillators of Van Der Pol (VDP) connected to five-link biped robot through simple Proportional Derivative (PD) closed-loop control system. The coupled non-linear oscillators generate joint angles trajectories (hips and knees) for the five-link biped robot. RSM-based has screened the interactive effects of VDP parameters on biped\'s locomotion responses
Item Type: | Thesis (PhD) |
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Subjects: | T Technology > T Technology (General) Q Science > QP Physiology |
Divisions: | Faculty of Engineering and Technology (FET) |
Depositing User: | Users 27 not found. |
Date Deposited: | 24 Dec 2010 04:12 |
Last Modified: | 24 Dec 2010 04:12 |
URII: | http://shdl.mmu.edu.my/id/eprint/1780 |
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