Bipedal dynamic walking robot

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...

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Main Authors: Arguelles, Richard Benedict Tangonan, Chua, Harvin Saml Ho, Engracia, Mikhail Fex Carreon, Musa, Raymund John Cruz
Format: text
Language:English
Published: Animo Repository 2008
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Online Access:https://animorepository.dlsu.edu.ph/etd_bachelors/14629
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Institution: De La Salle University
Language: English
id oai:animorepository.dlsu.edu.ph:etd_bachelors-15271
record_format eprints
spelling oai:animorepository.dlsu.edu.ph:etd_bachelors-152712021-11-13T03:48:22Z Bipedal dynamic walking robot Arguelles, Richard Benedict Tangonan Chua, Harvin Saml Ho Engracia, Mikhail Fex Carreon Musa, Raymund John Cruz 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. 2008-01-01T08:00:00Z text https://animorepository.dlsu.edu.ph/etd_bachelors/14629 Bachelor's Theses English Animo Repository Robots--Motion Walking Locomotion
institution De La Salle University
building De La Salle University Library
continent Asia
country Philippines
Philippines
content_provider De La Salle University Library
collection DLSU Institutional Repository
language English
topic Robots--Motion
Walking
Locomotion
spellingShingle Robots--Motion
Walking
Locomotion
Arguelles, Richard Benedict Tangonan
Chua, Harvin Saml Ho
Engracia, Mikhail Fex Carreon
Musa, Raymund John Cruz
Bipedal dynamic walking robot
description 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.
format text
author Arguelles, Richard Benedict Tangonan
Chua, Harvin Saml Ho
Engracia, Mikhail Fex Carreon
Musa, Raymund John Cruz
author_facet Arguelles, Richard Benedict Tangonan
Chua, Harvin Saml Ho
Engracia, Mikhail Fex Carreon
Musa, Raymund John Cruz
author_sort Arguelles, Richard Benedict Tangonan
title Bipedal dynamic walking robot
title_short Bipedal dynamic walking robot
title_full Bipedal dynamic walking robot
title_fullStr Bipedal dynamic walking robot
title_full_unstemmed Bipedal dynamic walking robot
title_sort bipedal dynamic walking robot
publisher Animo Repository
publishDate 2008
url https://animorepository.dlsu.edu.ph/etd_bachelors/14629
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