Design and control of an anthropomimetic robotic leg

• Main Author: Leong, Hon Choong.
• Other Authors: Yeo Song Huat
• Format: Final Year Project
• Language: English
• Published: 2011
• Subjects: DRNTU::Engineering::Mechanical engineering::Bio-mechatronics
• Online Access: http://hdl.handle.net/10356/45327
• Institution: Nanyang Technological University

In this report design modification and motion control of an existing cable-driven anthropomimetic robotic leg is implemented. Human walking gait is studied so as to implement motion control on the anthropomimetic legs. For the existing system, relatively high tension ratio between the cables of knee...