Bipedal robot locomotion using multivariate control
In this thesis, multivariate PID control will be implemented on YICAL Leg II for self supporting bipedal locomotion. The legged robot is properly scaled to a human being. It has 6 DOF which is direct driven by DC motors. The motion will be limited on the sagittal plane. The sensor system of the robo...
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| Format: | Thesis |
| Language: | English |
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2008.
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