Study and design of biped robot of ten DOF for stability analysis in walking process

C. M. Cordova-Villarreal, J. C. Montesdeoca-Contreras, R. S. Avila-Campoverde, J. A. Morales-Garcia

Research output: Contribution to conferencePaper

Abstract

© 2015 IEEE. In the world, the human robots being a important part in the relationship between human-machine. In this context, a study and design to implementation of a biped robot that is focused in a mathematical modeling and analysis of direct and kinematic, using matrix techniques proposed by Denavit and Hartenberg (DH). In the first part only legs are implemented using digital servos motors without feedback signals. Is necessary to use a high performance driver to control of biped robot, in this case an Arduino DUE are used for this propose. The results show a high performance of mathematical modeling when the walking surface is flat, but when the walking surface change the performance is no good.
Original languageEnglish
Pages322-326
Number of pages5
DOIs
StatePublished - 1 Jan 2015
Event2015 IEEE North West Russia Section Young Researchers in Electrical and Electronic Engineering Conference, ElConRusNW 2015 - St. Petersburg, Russian Federation
Duration: 2 Feb 20153 Feb 2015

Conference

Conference2015 IEEE North West Russia Section Young Researchers in Electrical and Electronic Engineering Conference, ElConRusNW 2015
Abbreviated titleElConRusNW 2015
Country/TerritoryRussian Federation
CitySt. Petersburg
Period2/02/153/02/15

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