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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| Format: | Thesis |
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2009
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| Online Access: | http://shdl.mmu.edu.my/1780/ |
| Summary: | 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 |
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