Title

Bipedal dynamic walking robot

Date of Publication

2008

Document Type

Bachelor's Thesis

Degree Name

Bachelor of Science in Computer Science

College

College of Computer Studies

Department/Unit

Computer Science

Thesis Adviser

Jesus E. Gonzalez

Defense Panel Member

Gregory G. Cu
Karlo Shane O. Campos
Joel P. Ilao

Abstract/Summary

The Dynamic Walking Robot is an autonomous bipedal robot which mimics the way humans walk. Instead of calculating and balancing itself every time it takes a step, the Dynamic Walking Robot pushes itself forward using one leg and then catches itself with its other leg to counter the momentum from the push. This process is kept stable by feedback control systems. The system is based on the concept of the Zero Moment Point or ZMP, which cancels out the moment of the inertial forces to keep the walking stable. It does this by keeping track of the angles in the joints and uses that data to properly maintain the stability of the legs while the robot is walking. A robot simulation is presented together with the hardware prototype to clearly show the dynamism through the concept of ZMP.

Abstract Format

html

Language

English

Format

Print

Accession Number

TU15435

Shelf Location

Archives, The Learning Commons, 12F, Henry Sy Sr. Hall

Physical Description

1 v. (various foliations) : ill. 29 cm

Keywords

Robots--Motion; Walking; Locomotion

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