Design, simulation and control of a 12 DOF biped robot

Abstract

The field of humanoid robotics has in the last several decades taken off as an active area of research. The goal of this field id to build robots which by having a human-like form will be able to work in environments designed for people. An important part of this challenge is the development of biped walking robots. This thesis presents the design, simulation and control of a twelve degree of freedom biped walking robot.