DocumentCode
228370
Title
Design and development of dynamically stable bipedal walking system
Author
Masurkar, Kaustubh ; Kamble, Harshad ; Ohol, S.S. ; Joshi, Vinayak
Author_Institution
Dept. of Production Eng. & Ind. Manage., Coll. of Eng. Pune, Pune, India
fYear
2014
fDate
1-2 Aug. 2014
Firstpage
1
Lastpage
6
Abstract
There has been a lot of development in Biped walking around the world. Biped walking is a very complex problem in robotics and control domain. This paper describes the (small scale) design and implementation of bipedal system for humanoid. The system is intended for an autonomous robot, and has a total of 13 degrees of freedom of with 3 DoF for hip joint, 1 Dof for knee joint and 2 DoF for ankle joint for each leg. The objective of this work is to design bipedal walking system prototype. Realization and implementation of control strategy in MATLAB environment. for straight and inclined plane walking.
Keywords
control engineering computing; gait analysis; humanoid robots; legged locomotion; stability; MATLAB environment; bipedal walking system; humanoid robot; Foot; Joints; Knee; Legged locomotion; Robot kinematics; Torque; Bipedal walking; Humanoid; Robotics;
fLanguage
English
Publisher
ieee
Conference_Titel
Advances in Engineering and Technology Research (ICAETR), 2014 International Conference on
Conference_Location
Unnao
ISSN
2347-9337
Type
conf
DOI
10.1109/ICAETR.2014.7012844
Filename
7012844
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