A bipedal walking humanoid robotic system design and configuration.

摘要

There have been numerous studies on design and control of autonomous humanoid robot. However, it's extremely complex in natural environment and there are many factors that can affect the performance of a humanoid robot.;This thesis describes the concept, design and configuration of a humanoid robotic system, including the steps for building and implementing prototype of the humanoid bipedal walking system. The related humanoid robot is 57 inches tall, with 18 flexible joints in total. The mechanical design of the robot is presented, as well as the motion programming to be implemented for walking and recovering balance.;Electric is the pivotal aspect for driving the machine. Several factors were examined for efficiency in performance, for instance, the weight, the torque of the motor and the power supply. The rationales that affected the design were weight, cost and user friendly interface without compromising the performance or motion of the robot. The above system was built, configured and tested, where it could be used for many applications including education and security.