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/ |
| _version_ | 1848789884287844352 |
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| author | Za'Balawi, Ibrahim Ismail |
| author_facet | Za'Balawi, Ibrahim Ismail |
| author_sort | Za'Balawi, Ibrahim Ismail |
| building | MMU Institutional Repository |
| collection | Online Access |
| 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 |
| first_indexed | 2025-11-14T18:03:49Z |
| format | Thesis |
| id | mmu-1780 |
| institution | Multimedia University |
| institution_category | Local University |
| last_indexed | 2025-11-14T18:03:49Z |
| publishDate | 2009 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | mmu-17802010-12-24T04:12:58Z http://shdl.mmu.edu.my/1780/ Trajectory Planning and Motion Recognition for Rhythmic Movements of a Biped Robot 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 NonPeerReviewed Za'Balawi, Ibrahim Ismail (2009) Trajectory Planning and Motion Recognition for Rhythmic Movements of a Biped Robot. PhD thesis, Multimedia University. http://vlib.mmu.edu.my/diglib/login/dlusr/login.php |
| spellingShingle | T Technology (General) QP Physiology Za'Balawi, Ibrahim Ismail Trajectory Planning and Motion Recognition for Rhythmic Movements of a Biped Robot |
| title | 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_short | 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 |
| topic | T Technology (General) QP Physiology |
| url | http://shdl.mmu.edu.my/1780/ http://shdl.mmu.edu.my/1780/ |