University of Twente Student Theses
ZMP based control in 3D passive dynamic walking
Daemen, P. (2008) ZMP based control in 3D passive dynamic walking.
![[img]](http://essay.utwente.nl/style/images/fileicons/application_pdf.png) |
PDF
4MB |
| 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 |
| Export this item as: | BibTeX EndNote HTML Citation Reference Manager |
Show download statistics for this publication
Show download statistics for this publicationRepository Staff Only: item control page