Efrianto, Efrianto and Tanaya, Prianggada Indra (2015) Bipedal Robot Construction and Behavior Simulation Using V-REP Simulator. Bachelor thesis, Swiss German University.

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Abstract

The purpose of this thesis work is to construct the new bipedal robot and design a framework for analyzing bipedal robot behaviour. In this work, the last generation of bipedal robot that has 12 DoF is used. The bipedal robot has ability to walking straight, rotating, and turning left/right. Several strategies of walking gait have been derived and analysed. Based on this derivation, software source code are developed and executed on an Arduino Board. The software code produced are the basic composition of joints and links, that composing the bipedal robot‘s limbs. The framework developed uses V-REP simulation software to observe the behaviour of the robots. The system configuration, task and environment of the robot are the main factors affecting its behaviour. The simulation gives a more idealistic behaviour execution rather than realistic. Adjustments can be made to the simulation parameters to provide more realistic performance. Experiment is conducted on bipedal robot by adjusting their dynamic properties and/or surrounding environment. Validation is carried out by comparing the result of simulation and the real robots execution.

Item Type:	Thesis (Bachelor)
Uncontrolled Keywords:	Bipedal Robot; Walking Gait; Robot Behaviour; Maneuver; Framework; Modelling; simulation.
Subjects:	T Technology > TJ Mechanical engineering and machinery > TJ163.12 Mechatronics T Technology > TJ Mechanical engineering and machinery > TJ210 Robots (General)
Divisions:	Faculty of Engineering and Information Technology > Department of Mechatronics Engineering
Depositing User:	Atroridho Rizky
Date Deposited:	05 Nov 2020 04:43
Last Modified:	05 Nov 2020 04:43
URI:	http://repository.sgu.ac.id/id/eprint/1499

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