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dc.contributor.advisorBahr, Behnamen_US
dc.contributor.authorMalakar, Bijaya
dc.date.accessioned2006-11-23T04:20:58Z
dc.date.available2006-11-23T04:20:58Z
dc.date.issued2006-05
dc.identifier.othert06012
dc.identifier.urihttp://hdl.handle.net/10057/264
dc.descriptionThesis (M.S.)--Wichita State University, Dept. of Mechanical Engineering.en
dc.description"May 2006."en
dc.descriptionIncludes bibliographic references (leaves 73-75).en
dc.description.abstractBipedal walking robots have distinguished themselves from other robots not only for their better mobility but also for the increased amount of complexity in their architecture. The issue of walking stability has inherently been related with these in various aspects from dynamics to controls. It has been defined in various ways for different aspects and these definitions have served as guidelines for designing a walking robot. This research is based on a design of a walking robot and development of a walking trajectory. Among the various approaches implemented in order to attain control of two-legged walking, this study attempted to linearize the walking trajectory by dividing it into finite discrete sections. Using the method of kinematics inversion to generate the initial open loop path, the study looks into implementation of the results for a successful walking mechanism. Further it dealt with stepping velocity control by using ground contact trigger and aimed at reducing the stress developed in joints due to dynamic forces.en
dc.format.extent4033667 bytes
dc.format.extentix, 144 leaves : ill., digital, PDF file.en
dc.format.mimetypeapplication/pdf
dc.language.isoen_USen
dc.rightsCopyright Bijaya Malakar, 2006. All rights reserved.en
dc.subject.lcshElectronic dissertationsen
dc.titleDesign of bipedal walking robot and reduction of dynamic impact in jointsen
dc.typeThesisen
dc.identifier.oclc73706956


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