University of Twente Student Theses


Analysis and development of a 2D walking machine

Beekman, Niels (2004) Analysis and development of a 2D walking machine.

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Abstract:For Vincent Duindam's promotional research a biped walker has to be constructed that can be used to test certain control and modeling techniques for 3D walking. With this thesis a small start has been made to achieve this. Because 3D walking is very complex a choice was made to first analyse and design a 2D walker. One of the main aspects is that the design should be energy efficient and should respect the natural dynamics of the system. In this report 2D walking is analyzed by modeling and simulation. A controller was designed that respects the natural dynamics of the system by keeping it in a stable oscillation. Modeling and simulation also gave some hints on practical dimensions of the walker and requirements on the subsystems. With these results a mechanical and electrical design was made. At the time of writing a start has been made in building this design.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering MSc (60353)
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