Sökning: "ZMP"

Hittade 2 uppsatser innehållade ordet ZMP.

1. 1. Skibot 1.0, a Poling Cross-Country Skiing Robot

   Uppsats för yrkesexamina på avancerad nivå, Luleå tekniska universitet/Institutionen för system- och rymdteknik

   Författare :Otto Kalliorinne; [2022]
   Nyckelord :Coordinate frame; Direction cosines; ZMP; GPS; DOF; SMC; Fuzzy logic; DC-motor; UART; I2C; Microcontroller;

   Sammanfattning : This thesis project covers the development of a cross country skiing robot, with the purpose of being used as an instrument for measuring gliding properties of skis. The robot used in total 4 servomotors to control the motion of right and left arms with poles attached. LÄS MER

3. 2. Dynamic Locomotion of Quadrupedal Robots over Rough Terrain

   Master-uppsats, KTH/Skolan för elektroteknik och datavetenskap (EECS)

   Författare :Aravind Elanjimattathil Vijayan; [2018]
   Nyckelord :;

   Sammanfattning : Previous works have enabled locomotion of quadrupedal robots usingthe ZMP-based motion optimization framework on flat terrain withvarious gait patterns. Locomotion over rough terrain brings in newchallenges such as planning safe footholds for the robot, ensuring kinematicstability during locomotion and avoiding foot slippage over roughterrain etc. LÄS MER