Development of a Lightweight Biped Robot

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dc.contributor.authorAubakir, Bauyrzhan
dc.date.accessioned2018-11-01T10:08:37Z
dc.date.available2018-11-01T10:08:37Z
dc.date.issued2017-05
dc.description.abstractRobotics, as a research and technical field, finds inspiration in nature. In particular, bipedal robots, which structure and kinematics reproduce the lower limbs of a human body, are the first step toward functional humanoid robots. This document describes the development phases of a lightweight biped robot under construction at the department of Robotics and Mechatronics in Nazarbayev University. The mechanical design is the primary focus of this work; nevertheless, a big effort was also dedicated to formalize and realize the electrical, sensorial and software subsystems. By using 3D printing techniques and lightweight materials a lower power consumption and higher power over weight ratio was reached in comparison with state-of-the-art robots having comparable dimensions. Furthermore, thanks to a lower links inertia the system is inherently safer when operating in environment where humans are present. A detailed description of the robot kinematics and the methodology followed to dimension the actuation system is provided together with preliminary results on the execution of different postures and gaits.en_US
dc.identifier.citationBauyrzhan Aubakir. Development of a Lightweight Biped Robot. 2017. Department of of Robotics and Mechatronics, School of Science and Technology, Nazarbayev Universityen_US
dc.identifier.urihttp://nur.nu.edu.kz/handle/123456789/3586
dc.language.isoenen_US
dc.publisherNazarbayev University School of Science and Technologyen_US
dc.rightsAttribution-NonCommercial-ShareAlike 3.0 United States*
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/3.0/us/*
dc.subjectLightweight Biped Roboten_US
dc.subjectroboticsen_US
dc.titleDevelopment of a Lightweight Biped Roboten_US
dc.typeMaster's thesisen_US
workflow.import.sourcescience

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