Full metadata record
| DC Field | Value | Language |
|---|---|---|
| dc.contributor | Faculty of Engineering | en_US |
| dc.contributor.advisor | Fung, H. K. Eric (ME) | - |
| dc.creator | Shi, Chao | - |
| dc.identifier.uri | https://theses.lib.polyu.edu.hk/handle/200/8350 | - |
| dc.language | English | en_US |
| dc.publisher | Hong Kong Polytechnic University | - |
| dc.rights | All rights reserved | en_US |
| dc.title | Modeling, simulation and experiment of human-like walking for bipedal robot | en_US |
| dcterms.abstract | This paper presents a 3D simulation method in SimMechanics for a floating type robot, known as bipedal robot. According to the physical experimental bipedal robot built in our laboratory, a 3D model using the same physical parameters is developed in SolidWorks, which serves as a platform to be simulated and analyzed in Matlab. By performing the simulation, we can verify the methodologies to be applied, and test the robot kinematic and dynamic characteristics before the physical robot experiments are carried out, aiming at revealing the possible problems beforehand. Secondly, a ground contact model between soles and the ground and a model of distributed sole force sensors will be introduced for the purpose of ZMP (zero moment point) calculation. By modeling the distributed force sensor system attached to the bipedal robot feet, precise pressure profiles in different walking phases can be obtained during the simulation. ZMP, the point at which the total of horizontal inertia and gravity force on the robot body equals to zero, will be used for stability analysis. By applying the models and methods described above, a human-like straight line walking pattern will be chosen for stability analysis by applying ZMP criteria. The overall simulation results demonstrate that this 3D simulation method with distributed sole force sensor model is effective in analyzing the stability of the bipedal robot. For the given walking pattern, the bipedal robot in the simulation environment can walk stably satisfying all the constraints of the physical robot. Finally, the experiment on the physical robot is carried out to test the walking gait developed in the simulation. | en_US |
| dcterms.extent | xv, 129 pages : color illustrations | en_US |
| dcterms.isPartOf | PolyU Electronic Theses | en_US |
| dcterms.issued | 2016 | en_US |
| dcterms.educationalLevel | All Master | en_US |
| dcterms.educationalLevel | M.Sc. | en_US |
| dcterms.LCSH | Robotics. | en_US |
| dcterms.LCSH | Machinery, Kinematics of -- Computer simulation. | en_US |
| dcterms.LCSH | Machinery, Dynamics of -- Computer simulation. | en_US |
| dcterms.LCSH | Hong Kong Polytechnic University -- Dissertations | en_US |
| dcterms.accessRights | restricted access | en_US |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| b28424402.pdf | For All Users (off-campus access for PolyU Staff & Students only) | 3.16 MB | Adobe PDF | View/Open |
Copyright Undertaking
As a bona fide Library user, I declare that:
- I will abide by the rules and legal ordinances governing copyright regarding the use of the Database.
- I will use the Database for the purpose of my research or private study only and not for circulation or further reproduction or any other purpose.
- I agree to indemnify and hold the University harmless from and against any loss, damage, cost, liability or expenses arising from copyright infringement or unauthorized usage.
By downloading any item(s) listed above, you acknowledge that you have read and understood the copyright undertaking as stated above, and agree to be bound by all of its terms.
Please use this identifier to cite or link to this item:
https://theses.lib.polyu.edu.hk/handle/200/8350