طراحی و تولید مسیر حرکت یک ربات دو پای صفحه ای جهت گام برداشتن در سطوح مورد نظر
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/آیدا پرورش دهخوارقانی
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: دانشکده ی فنی مهندسی مکانیک
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۱۳۴ص
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چاپی
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کارشناسی ارشد
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۱۳۹۲/۰۶/۲۵
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دانشگاه تبریز
SUMMARY OR ABSTRACT
Text of Note
two feet, two this, two shin and a torso. In this thesis, after Literature review, the computer model is designed and possible trajectories in pivotal space is generated in order to walk in desired surfaces. Also the ZMP concept is checked for the stability purpose. Based on the Characteristics obtained from the Experimental model, required analysis and verification will be done -like activities are quested in biped and humanoid robots. Ordinary environment of a human life is consist of rugged surfaces, stairs ,slopes and other obstacles, so a biped is desirable which can overcome these restrictions. However, according to the high complexity of the dynamics and control of these robots, few researchers are in working in this area. The biped surveyed in this research is a planar one, consist of 7 links-In recent years, walking and other human