Aliza Che Amran

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This paper proposes a strategy for bipedal robot walking on inclined surfaces using position and orientation based inverse kinematics algorithm. Some researchers implemented control approaches to solve bipedal walking on inclined surfaces. Generally, most of them apply control feedback at ankle joints and also introduced many more control methodologies. In(More)
This paper describes the design of a Proportional Integral (PI) compensator for a nominal characteristic trajectory following (NCTF) controller that based on practical stability limit. NCTF controller is a control system that has simple structure and easy design procedure in order to achieve good performance in both point-to-point (PTP) motion and(More)
No part of this dissertation may be reproduced, stored in a retrieval system, or transmitted in any form or by any means, electronic, mechanical, photocopying, recording or otherwise, without the permission from the author. Abstract Minimal energy consumption trajectory is important for battery-powered bipedal robots. Linear inverted pendulum model or(More)
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