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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sg-ntu-dr.10356-193512023-03-11T17:05:51Z Improvement of walking stability for a four-legged robot Tee, Tzey Wee. Low Kin Huat School of Mechanical and Production Engineering DRNTU::Engineering::Mechanical engineering 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. Master of Philosophy (MPE) 2009-12-11T01:42:57Z 2009-12-11T01:42:57Z 2003 2003 Thesis http://hdl.handle.net/10356/19351 en 212 p. application/pdf |
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Nanyang Technological University |
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NTU Library |
| continent |
Asia |
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Singapore Singapore |
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| language |
English |
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DRNTU::Engineering::Mechanical engineering |
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DRNTU::Engineering::Mechanical engineering Tee, Tzey Wee. Improvement of walking stability for a four-legged robot |
| description |
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. |
| author2 |
Low Kin Huat |
| author_facet |
Low Kin Huat Tee, Tzey Wee. |
| format |
Theses and Dissertations |
| author |
Tee, Tzey Wee. |
| author_sort |
Tee, Tzey Wee. |
| title |
Improvement of walking stability for a four-legged robot |
| title_short |
Improvement of walking stability for a four-legged robot |
| title_full |
Improvement of walking stability for a four-legged robot |
| title_fullStr |
Improvement of walking stability for a four-legged robot |
| title_full_unstemmed |
Improvement of walking stability for a four-legged robot |
| title_sort |
improvement of walking stability for a four-legged robot |
| publishDate |
2009 |
| url |
http://hdl.handle.net/10356/19351 |
| _version_ |
1761781435250769920 |