Welcome To UTPedia

We would like to introduce you, the new knowledge repository product called UTPedia. The UTP Electronic and Digital Intellectual Asset. It stores digitized version of thesis, dissertation, final year project reports and past year examination questions.

Browse content of UTPedia using Year, Subject, Department and Author and Search for required document using Searching facilities included in UTPedia. UTPedia with full text are accessible for all registered users, whereas only the physical information and metadata can be retrieved by public users. UTPedia collaborating and connecting peoples with university’s intellectual works from anywhere.

Disclaimer - Universiti Teknologi PETRONAS shall not be liable for any loss or damage caused by the usage of any information obtained from this web site.Best viewed using Mozilla Firefox 3 or IE 7 with resolution 1024 x 768.

DESIGN & IMPLEMENTATION OF A TWO-LEGGED HUMANOID ROBOT

A'EE, SAIFUL (2006) DESIGN & IMPLEMENTATION OF A TWO-LEGGED HUMANOID ROBOT. Universiti Teknologi Petronas. (Unpublished)

[img] PDF
Download (1757Kb)

Abstract

Nowadays, the development of robotic field is developing rapidly. The effort in developing a robot that can act and think like human has been done by various parties including the institutions of higher learning and the private company. This paper presents the design and implementation of a two-legged humanoid robot that capable of walking forward and backward. The robot is having a total of five degree of freedom (DOF), which comprises of two DOFon each knee, two DOFon each pelvis and one DOF used as balancing mechanism. These DOF is implemented using servomotors and are controlled using microchip PIC16F877 and PIC16F84A. The most critical part in designing this robot is to achieve its stability especially when it begins to walk. The stability of the structure is solves using the counterweight mechanism. The development of this biped is done stage by stage through developing and modifying the structure, constructing the circuit, programming the controller and combining both the hardware and software part. The results that have been achieved are the stable and rigid structure and the walking motion and it will be discussed in detail in the result part of this report.

Item Type: Final Year Project
Academic Subject : Academic Department - Electrical And Electronics - Pervasisve Systems - Digital Electronics - Design
Subject: T Technology > TK Electrical engineering. Electronics Nuclear engineering
Divisions: Engineering > Electrical and Electronic
Depositing User: Users 2053 not found.
Date Deposited: 27 Sep 2013 10:57
Last Modified: 25 Jan 2017 09:46
URI: http://utpedia.utp.edu.my/id/eprint/6895

Actions (login required)

View Item View Item

Document Downloads

More statistics for this item...