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

doi:10.1109/EIConRusNW.2015.7102289

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

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Resumen

© 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.

Idioma original	Inglés
Páginas	322-326
Número de páginas	5
DOI	https://doi.org/10.1109/EIConRusNW.2015.7102289
Estado	Publicada - 1 ene. 2015
Evento	Proceedings of the 2015 IEEE North West Russia Section Young Researchers in Electrical and Electronic Engineering Conference, ElConRusNW 2015 - St. Petersburg, Federación de Rusia Duración: 2 feb. 2015 → 3 feb. 2015

Conferencia

Conferencia	Proceedings of the 2015 IEEE North West Russia Section Young Researchers in Electrical and Electronic Engineering Conference, ElConRusNW 2015
Título abreviado	ElConRusNW 2015
País/Territorio	Federación de Rusia
Ciudad	St. Petersburg
Período	2/02/15 → 3/02/15

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10.1109/EIConRusNW.2015.7102289

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Cordova-Villarreal, C. M., Montesdeoca-Contreras, J. C., Avila-Campoverde, R. S., & Morales-Garcia, J. A. (2015). Study and design of biped robot of ten DOF for stability analysis in walking process. 322-326. Papel presentado en Proceedings of the 2015 IEEE North West Russia Section Young Researchers in Electrical and Electronic Engineering Conference, ElConRusNW 2015, St. Petersburg, Federación de Rusia. https://doi.org/10.1109/EIConRusNW.2015.7102289

Cordova-Villarreal, C. M. ; Montesdeoca-Contreras, J. C. ; Avila-Campoverde, R. S. et al. / Study and design of biped robot of ten DOF for stability analysis in walking process. Papel presentado en Proceedings of the 2015 IEEE North West Russia Section Young Researchers in Electrical and Electronic Engineering Conference, ElConRusNW 2015, St. Petersburg, Federación de Rusia.5 p.

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abstract = "{\textcopyright} 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.",

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Cordova-Villarreal, CM, Montesdeoca-Contreras, JC , Avila-Campoverde, RS & Morales-Garcia, JA 2015, 'Study and design of biped robot of ten DOF for stability analysis in walking process', Papel presentado en Proceedings of the 2015 IEEE North West Russia Section Young Researchers in Electrical and Electronic Engineering Conference, ElConRusNW 2015, St. Petersburg, Federación de Rusia, 2/02/15 - 3/02/15 pp. 322-326. https://doi.org/10.1109/EIConRusNW.2015.7102289

Study and design of biped robot of ten DOF for stability analysis in walking process. / Cordova-Villarreal, C. M.; Montesdeoca-Contreras, J. C.; Avila-Campoverde, R. S. et al.
2015. 322-326 Papel presentado en Proceedings of the 2015 IEEE North West Russia Section Young Researchers in Electrical and Electronic Engineering Conference, ElConRusNW 2015, St. Petersburg, Federación de Rusia.

Producción científica: Contribución a una conferencia › Documento

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Cordova-Villarreal CM, Montesdeoca-Contreras JC , Avila-Campoverde RS, Morales-Garcia JA. Study and design of biped robot of ten DOF for stability analysis in walking process. 2015. Papel presentado en Proceedings of the 2015 IEEE North West Russia Section Young Researchers in Electrical and Electronic Engineering Conference, ElConRusNW 2015, St. Petersburg, Federación de Rusia. doi: 10.1109/EIConRusNW.2015.7102289

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

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