00000ctm a22000004a 4500 UP-99796217602844876 Buklod 20230503092542.0 m |o d | ta 060526s2006 xx r |||| u|eng d (iLib)UPD-00000160394 DENGII eng DMLUC LG 995 2006 E64 M35 Magsino, Elmer R author Implementation of a walking bipedal robot using a position control algorithm Elmer R. Magsino. c2006. 113 leaves ill. (some col.) 1 computer laser optical disc. "March 2006." Thesis (M.S. Electrical Engineering)--University of the Philippines Diliman. A position control algorithm using inverse kinematics and a control strategy based on static balance will be implemented to yield a walking bipedal robot. The bipedal robot has no upper body, stands approximately 50 cm and weighs about 4 kg. Each leg of the robot has five degrees of freedom: two at the hip, two at the ankles, and one at the knee. The gait parameters that will be observed are the step length, hip height and foot clearance. Each of these parameters is made to follow a linear trajectory. From the trajectories, the gait is generated by the use of the kinematic properties of the biped and deriving a closed form solution for each joint angle. Bipedal locomotion will be verified using simulations and experiments. Simulations present bipedal walking through stick diagrams. Bipedalism Simulation methods. Robots Kinematics. Mobile robots. Thesis FI UP UPD DARCHIVES LG 995 2006 E64 M35 UPD DENG-II LG 995 2006 E64 M35 Thesis