Abstract:
This thesis paper analyze the flexibility of humanoid robot structure design based
on design parameters of degree of freedoms and joint angle range characteristic.
As a result it helps to identify elements that provide flexibility for humanoid robots
to attain human-like motion. Description and correlation of physical structure
flexibility between human and humanoid robot to perform motion is presented to
clarify the elements.
This analysis utilized the joint structure design, configuration of degree of
freedoms and joint rotation range of a 17-dof humanoid robot. Experiments
utilizing this robot were conducted, with results indicates effective design
parameters to attain flexibility in human-like motion.
After the emergence of Wabot from Waseda University in 1973, few full-sized
humanoid robots have been developed around the world that can walk, and run.
Even though various humanoids have successfully demonstrated their capabilities,
bipedal walking methods are still one of the main technical challenges that
robotics researchers are trying to solve.
Constructing a full sized humanoid robot is still challenging because most bipedal
walking methods, including ZMP (Zero Moment Point) require fast sensor
feedback and also fast and precise control of actuators. For this reason, only a
small number of research groups have the ability to create full-sized humanoid
robots that can walk and run.
Description:
We are thankful to Almighty Allah for his blessings for the successful completion
of our thesis. Our heartiest gratitude, profound indebtedness and seep respect go
to our supervisor Dr. Engr. Md. Alamgir Hossain, Associate Professor, MIST, Dhaka,
Bangladesh, for his constant supervision, affectionate guidance and
encouragement and motivation. His keen interest on the topic and valuable
advices throughout the study was of great help in completing thesis.
We give my true and sincere gratitude to Lt Cdr KMR Sadi (E, BN), GSO-II,
Department of Mechanical Engineering, for his encouragement during the thesis.
Finally, we would like to thank our course mates for their appreciable assistance,
patience and suggestions during the course of our thesis.
