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Universitas Gadjah Mada Menara Ilmu Otomasi
Departemen Teknik Elektro dan Informatika
Sekolah Vokasi Universitas Gadjah Mada
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  • Humanoid Robot

Humanoid Robot

  • 9 October 2018, 10.06
  • Oleh: fahmizal
  • 0

VoBiRo – Vocational Bipedal Robot Platform, Kinematic and Locomotion Control

Abstract

This research presents kinematic and locomotion control of vocational bipedal robot (VoBiRo)with a kid-size platform. Typically, a linear inverted pendulum model (LIPM) can be used to generate the center of mass (CoM) trajectory of a bipedal robot. By combining the swing foot trajectory, the omnidirectional walking command is capable of generating joint angle control commands in terms of kinematic. Thus, this paper proposes kinematic and LIPM as a locomotion control VoBiRo. A complete simulation was then implemented in MATLAB and graphical user interface (GUI) by Processing IDE relying on kinematic and LIPM model.

Locomotion Control of Bipedal Robot

Inverse Kinematic

Electronic design of VoBiRo

Locomotion Control of Bipedal Robot

3D View Locomotion of VoBiRo

Graphical User Interface (GUI) of VoBiRo

http://otomasi.sv.ugm.ac.id/wp-content/uploads/sites/361/2019/01/VoBiRo.mp4

more detail visit our publication here and our ppt

 

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Universitas Gadjah Mada

Departemen Teknik Elektro dan Informatika, Sekolah Vokasi, Universitas Gadjah Mada
Jl. Grafika No. 2 Kampus UGM, Yogyakarta 55281

Penanggung Jawab : Dr. Fahmizal, S.T., M.Sc.

Site: http://fahmizal.staff.ugm.ac.id

Email : fahmizal@ugm.ac.id

 

Recent Comments

  • Bakti prapdanu on Timer 5 Minutes Circuit Design Using IC NE555
  • Rosyid on Timer 5 Minutes Circuit Design Using IC NE555
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