A study of walking gait stability and gait efficiency of a humanoid bipedal robot

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Date
2017-06
Authors
Tan, Kah Hooi
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Abstract
Humanoid robot is an emerging research that gaining a huge attention since last few years and continues to be one of the main focuses in the robotics research. Locomotion is the capability of a body to move from one place to another place. This project presents the method to design and develop a stable and energy efficient walking humanoid robot. Comparison between the open source humanoid robots is conducted to find out the ideal humanoid robot to use in this project. After the research, PLEN 2 is chosen to be used in this project. A modified PLEN 2 is built to perform several gait stability analysis. MATLAB was used to build a simulation model for studying the humanoid bipedal gait control method. The simulated result was implemented into modified PLEN 2 and the effect of the implementation is studied. The test is conducted under several variables, such as different walking ground surfaces, different length of leg, and different period for each step. The efficiency and the stability of walking was used as the preliminary for analysis. A motion tracking programme was developed to track the trajectory of the leg when walking. The ideal humanoid robot that can walk efficiently and stably will be chosen at the end of this project.
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