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ohiou1195575304.pdf (1.93 MB)
ETD Abstract Container
Abstract Header
Simulation of a Humanoid Robot
Author Info
Venkatayogi, Chandana
Permalink:
http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1195575304
Abstract Details
Year and Degree
2007, Master of Science (MS), Ohio University, Mechanical Engineering (Engineering).
Abstract
A 35 degrees-of-freedom humanoid robot is constructed in a modular fashion with repeated seven degrees of freedom serial robot chain with spherical-revolute spherical joints for the trunk, arms and legs. The major benefit of the repeated serial structure is the ease of computations resulting from the similar kinematic parameters for the five serial robot chains. Simulations are done to test the behavior of the humanoid.The humanoid robot arm is simulated using the resolved rate control motion, with a constant velocity input for the hand. The inverse dynamics solution for the resolved rate control motion of the humanoid arm is developed using an iterative Newton-Euler formulation and the required actuator torques are calculated. The humanoid robot is also simulated in the context of resolved rate control, with motion constrained to the left arm. The proposed humanoid robot is kinematically simulated for walking and stair climbing with trajectory planning, from literature, in the form of joint angles for each step of locomotion.
Committee
Robert Williams II (Advisor)
Pages
150 p.
Subject Headings
Engineering, Mechanical
Keywords
simulation
;
humanoid
;
kinematics
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Citations
Venkatayogi, C. (2007).
Simulation of a Humanoid Robot
[Master's thesis, Ohio University]. OhioLINK Electronic Theses and Dissertations Center. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1195575304
APA Style (7th edition)
Venkatayogi, Chandana.
Simulation of a Humanoid Robot.
2007. Ohio University, Master's thesis.
OhioLINK Electronic Theses and Dissertations Center
, http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1195575304.
MLA Style (8th edition)
Venkatayogi, Chandana. "Simulation of a Humanoid Robot." Master's thesis, Ohio University, 2007. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1195575304
Chicago Manual of Style (17th edition)
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Document number:
ohiou1195575304
Download Count:
4,864
Copyright Info
© 2007, all rights reserved.
This open access ETD is published by Ohio University and OhioLINK.