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Charles Chilaka
| Speaker: |
Charles Chilaka
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| Date: |
Tuesday August 19, 2008
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| Title: |
Kinematic
and Dynamic Description of A Humanoid Robot (Master's Thesis
Presentation)
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Abstract
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This
project is aimed at finding a good description of the kinematic and
dynamics of a humanoid robot, ‘Dutchy’. We first introduce the basic
notions of humanoid robots, description of robot mechanism with some
examples of motions. Next we look at the relationship between the robot
and the human arm and establish some of the things that Dutchy can
do.
We finally consider the basics of pneumatics and give the mathematical
model for a single prismatic actuator. We verify the model by some
simple simulations and develop a simple control strategy.
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