Improvement of walking stability for a four-legged robot
Walking stability of a walking machine is the main focus in this work. A new designed leg mechanism in the present work is to improve the stability of the walking machine. The motors are all placed near to the body while reducing weights acting to the legs. This has improved the stability of the wal...
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| Format: | Theses and Dissertations |
| Language: | English |
| Published: |
2009
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| Online Access: | http://hdl.handle.net/10356/19351 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | Walking stability of a walking machine is the main focus in this work. A new designed leg mechanism in the present work is to improve the stability of the walking machine. The motors are all placed near to the body while reducing weights acting to the legs. This has improved the stability of the walking machine by preventing the shifting of center of gravity (CG) of the machine. Homing of the joint is also implemented in the present work by installing sensor for every degree of freedom. |
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