Citation

Za'Balawi, Ibrahim Ismail (2009) Trajectory Planning and Motion Recognition for Rhythmic Movements of a Biped Robot. PhD thesis, Multimedia University.

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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)
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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