WHITE PAPERS AND FINAL THESIS

The following white papers describe specific subjects about the biped robot:

• Biped Walking Foundations (Download PDF)
• Kinematics of a Biped Robot (Download PDF)
• Inverse Kinematics of a Biped Robot (Download PDF)
• Footstep Planning (Download PDF)

The following archives represent each one of the chapters that conform our engineer thesis based upon the design and construction of a biped robot. Due to its complexity, we have divided the whole project into 2 thesis, the first one deals with the analysis and control of the robot, whereas the second one deals with the electronic and mechanical systems:

- Thesis Nº1. Analysis and Control:

• Preface and Index
• Chapter 1: Introduction
• Chapter 2: Biped walking foundations
• Chapter 3: Simulation of dinamics in MATLAB
• Chapter 4: Kinetic analysis
• Chapter 5: Dinamic analysis
• Chapter 6: Footstep planing and control system
• Conclusion

- Thesis Nº2. Electronics and Mechanics

• Preface and Index
• Chapter 1: Introduction
• Chapter 2: Actuator systems
• Chapter 3: Sensorial systems
• Chapter 4: Mechanical system design
• Chapter 5: Electronic system design
• Chapter 6: Results analysis
• Conclusion