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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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 |
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T Technology (General) QP Physiology |
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T Technology (General) QP Physiology Za'Balawi, Ibrahim Ismail Trajectory Planning and Motion Recognition for Rhythmic Movements of a Biped Robot |
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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 |
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Multimedia University |
granting_department |
Research Library |
publishDate |
2009 |
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1747829452612567040 |