This master’s thesis concerns the development for a humanoid robot, which enables human-like walk. Although the intensive and experimental developments of humanoid robots are different, but it is important to further improve their ability to make humanoid robots can be automatic, intelligent and adaptable to the real environment and human. As a result, we were involved in the research of humanoid robot, called “HR1-NFU”. A complete model describing the system has been development. In this project, after building the mechanism model, we focus on developing driver, control and forward kinematic of the HR1-NFU. Having the forward is vital in any robot controller particularly for a humanoid robot. It's the theoretical basis and key technology to realize stable biped walking. Therefore, the forward kinematics and control of humanoid robot are the main objectives of this thesis. Firstly, the relations transferring from the base coordinate that attached at the waist of robot to the position and the orientation of the all joints is obtained by forward kinematics based on Denavit-Hartenberg formulation. In this investigation, the forward kinematics give the way to outline the solution of the robot from its own particular multi-dimensional joint space to the three-dimensional physical space in which the robot works. Stable walk steps depend on the capacity of the robot to take after arranged directions with its feet; this is impractical without some system that enables the robot to set its joints to edges that drive the feet to focuses along such directions. Finally, we used some reference documents to introduce balancing for robot. Balancing method depend on the capacity to figure the center of gravity of the robot, which is always showing signs of change as the robot moves; finding the GC is made conceivable, just if the exact position and orientation of each part of the robot in the three-dimensional space is known, an example of forwarding kinematics. It is very justifiable that any kinematics calculations must be performed progressively to be helpful in walking motions.
為了持續優化網站功能與使用者體驗,本網站將Cookies分析技術用於網站營運、分析和個人化服務之目的。
若您繼續瀏覽本網站,即表示您同意本網站使用Cookies。