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- W77457932 abstract "This thesis investigates the work on Thecodont – The Biped Walker for 1999. The aim was to create a method of walking that is adaptive and scalable in the practical world. Combined low level, and high level control is presented, simulated and demonstrated on a real electromechanical, position controlled, biped robot. Beginning in 1992 the project has moved from the original mechanical design and hardware implementation to be overhauled four times by successive project participants. The redesign has included mechanical modifications, rebuilding of the motor drive circuitry and redesign of the Control System. This year the project once again overhauls parts of the robot touches on each of these areas. The significant achievements of the project included the implementation of a control system based on the Motorolla 68332 with 256 Kilobytes of RAM and FLASH as peripherals. It also included the porting and redesign of all aspects of the embedded systems code, including the communication system, power delivery system and servomotor control loop. A graphical user interface was also implemented under the Microsoft Windows Environment using serial communication. This system provides real time information about the state of all system on the biped. The final result was a robot that could accurately control each of it 12 links and display information regarding their location. It also demonstrated the first stages of a dynamic walk based on the momentum of hip movement. Future work on the project is expected to delve into higher level of perception using sonar and acceleration feedback. Also area such as Zero Moment Control should be the high order consideration of future participants." @default.
- W77457932 created "2016-06-24" @default.
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- W77457932 date "1999-01-01" @default.
- W77457932 modified "2023-09-27" @default.
- W77457932 title "Thecodont- The biped walker" @default.
- W77457932 hasPublicationYear "1999" @default.
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