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 (Unpublished)

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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

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