ZMP based control in 3D passive dynamic walking

Daemen, P. (2008) ZMP based control in 3D passive dynamic walking.

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Abstract:Within the context of the 3TU federation the 14 degrees of freedom (DOF) antropomorphic robot `Tulip' is being developed with the goal to compete in the Robosoccer tournament of 2008 held in Suzhoo, China. Tulip will be a dynamic walker able to kick, goal-keep and walk. In order to gain a deeper insight in the dynamics of the design and to design and test motion patterns and controllers, a model has been developped and presented in this report, which will serve as a starting point for further work on the robot.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:54 computer science
Programme:Computer Science MSc (60300)
Link to this item:http://purl.utwente.nl/essays/58302
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