Browsing by Author "GOL MOHAMMAD ZADEH, Mohammad Hassan"
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Item DEVELOPMENT OF A WALKING MACHINE WITH TWO LEGS(2013-08-14) GOL MOHAMMAD ZADEH, Mohammad Hassan; ARIKAN, Kutluk Bilge; İRFANOĞLU, BülentThis dissertation reports on the developments of the bipedal walking robot BIROL. Special about it is that BIROL has 12 degrees of freedom and is actuated with the servomotors which are controlled in real time mode by RTWT through Matlab/Simulink. Before designing the controller, mathematical model has been obtained using Denavit-Hartenberg convention and Newton-Euler method. We generated a dynamically consistent motion pattern off-line by using central pattern generators (CPG) first for a Test Bench Walking Robot then for BIROL Robot. In order to keep the balance of robot the motion pattern consists the desired trajectories of all joints and the desired zero moment point (ZMP) trajectory. Force sensory feedbacks give the ground contact forces to compare real system with simulation.