Trajectory Planning and Motion Recognition for Rhythmic Movements of a Biped Robot

Trajectory Planning and Motion Recognition for Rhythmic Movements of a Biped Robot

In this research, Response Surface based Methodology (RSM-based) is proposed as a systematic methodology to characterize the parameters of the implemented CPG. The CPG has been constructed using four coupled non-linear oscillators of Van Der Pol (VDP) connected to five-link biped robot through simpl...

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Main Author: Za'Balawi, Ibrahim Ismail
Format: Thesis
Published: 2009
Subjects:
T Technology (General)
QP Physiology
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id my-mmu-ep.1780
record_format uketd_dc
spelling my-mmu-ep.17802010-12-24T04:12:58Z Trajectory Planning and Motion Recognition for Rhythmic Movements of a Biped Robot 2009-05 Za'Balawi, Ibrahim Ismail T Technology (General) QP Physiology In this research, Response Surface based Methodology (RSM-based) is proposed as a systematic methodology to characterize the parameters of the implemented CPG. The CPG has been constructed using four coupled non-linear oscillators of Van Der Pol (VDP) connected to five-link biped robot through simple Proportional Derivative (PD) closed-loop control system. The coupled non-linear oscillators generate joint angles trajectories (hips and knees) for the five-link biped robot. RSM-based has screened the interactive effects of VDP parameters on biped\'s locomotion responses 2009-05 Thesis http://shdl.mmu.edu.my/1780/ http://vlib.mmu.edu.my/diglib/login/dlusr/login.php phd doctoral Multimedia University Research Library
institution Multimedia University
collection MMU Institutional Repository
topic T Technology (General)
QP Physiology
spellingShingle T Technology (General)
QP Physiology
Za'Balawi, Ibrahim Ismail
Trajectory Planning and Motion Recognition for Rhythmic Movements of a Biped Robot
description In this research, Response Surface based Methodology (RSM-based) is proposed as a systematic methodology to characterize the parameters of the implemented CPG. The CPG has been constructed using four coupled non-linear oscillators of Van Der Pol (VDP) connected to five-link biped robot through simple Proportional Derivative (PD) closed-loop control system. The coupled non-linear oscillators generate joint angles trajectories (hips and knees) for the five-link biped robot. RSM-based has screened the interactive effects of VDP parameters on biped\'s locomotion responses
format Thesis
qualification_name Doctor of Philosophy (PhD.)
qualification_level Doctorate
author Za'Balawi, Ibrahim Ismail
author_facet Za'Balawi, Ibrahim Ismail
author_sort Za'Balawi, Ibrahim Ismail
title Trajectory Planning and Motion Recognition for Rhythmic Movements of a Biped Robot
title_short Trajectory Planning and Motion Recognition for Rhythmic Movements of a Biped Robot
title_full Trajectory Planning and Motion Recognition for Rhythmic Movements of a Biped Robot
title_fullStr Trajectory Planning and Motion Recognition for Rhythmic Movements of a Biped Robot
title_full_unstemmed Trajectory Planning and Motion Recognition for Rhythmic Movements of a Biped Robot
title_sort trajectory planning and motion recognition for rhythmic movements of a biped robot
granting_institution Multimedia University
granting_department Research Library
publishDate 2009
_version_ 1747829452612567040

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